test: add the PyramidScene app

Author: stephengold

build.gradle

@@ -238,6 +238,9 @@ tasks.register('ConvexVsMeshScene', JavaExec) {
 tasks.register('HelloWorld', JavaExec) {
     mainClass = 'testjoltjni.app.HelloWorld'
 }
+tasks.register('PyramidScene', JavaExec) {
+    mainClass = 'testjoltjni.app.PyramidScene'
+}
 tasks.withType(JavaExec).configureEach { // Java runtime options:
     classpath sourceSets.test.runtimeClasspath
     enableAssertions true

config/checkstyle/checkstyle.xml

@@ -10,7 +10,7 @@
 
     <!-- See https://checkstyle.org/filefilters/beforeexecutionexclusionfilefilter.html -->
     <module name="BeforeExecutionExclusionFileFilter">
-        <property name="fileNamePattern" value="ConvexVsMeshScene|HelloWorld"/>
+        <property name="fileNamePattern" value="ConvexVsMeshScene|HelloWorld|PyramidScene"/>
     </module>
 
     <!-- Checks for whitespace                        -->

src/test/java/testjoltjni/app/PyramidScene.java

@@ -0,0 +1,99 @@
+/*
+Copyright (c) 2024 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;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import testjoltjni.TestUtils;
+
+/**
+ * A straightforward Java translation of the Jolt Physics "pyramid scene"
+ * performance test.
+ * <p>
+ * Derived from PerformanceTest/PyramidScene.h by Jorrit Rouwe.
+ *
+ * @author Stephen Gold sgold@sonic.net
+ */
+// A scene that creates a pyramid of boxes to create a very large island
+public class PyramidScene
+{
+	private static final int OBJ_LAYER_NON_MOVING = 0;
+	private static final int OBJ_LAYER_MOVING = 1;
+	private static final int OBJ_NUM_LAYERS = 2;
+	private static final int BP_LAYER_NON_MOVING = 0;
+	private static final int BP_LAYER_MOVING = 1;
+	private static final int BP_NUM_LAYERS = 2;
+	public static void main(String[] argv) {
+		TestUtils.loadAndInitializeNativeLibrary();
+		TempAllocatorImpl temp_allocator = new TempAllocatorImpl(32 << 20); // 32 MiB
+		JobSystemThreadPool job_system = new JobSystemThreadPool(Jolt.cMaxPhysicsJobs, Jolt.cMaxPhysicsBarriers, TestUtils.numThreads());
+		final int cMaxBodies = 1_800;
+		final int cNumBodyMutexes = 0;
+		final int cMaxBodyPairs = 65_536;
+		final int cMaxContactConstraints = 20_480;
+		MapObj2Bp broad_phase_layer_interface = new MapObj2Bp(OBJ_NUM_LAYERS, BP_NUM_LAYERS)
+			.add(OBJ_LAYER_NON_MOVING, BP_LAYER_NON_MOVING)
+			.add(OBJ_LAYER_MOVING, BP_LAYER_MOVING);
+		ObjVsBpFilter object_vs_broadphase_layer_filter = new ObjVsBpFilter(OBJ_NUM_LAYERS, BP_NUM_LAYERS)
+			.disablePair(OBJ_LAYER_NON_MOVING, BP_LAYER_NON_MOVING);
+		ObjVsObjFilter object_vs_object_layer_filter = new ObjVsObjFilter(OBJ_NUM_LAYERS)
+			.disablePair(OBJ_LAYER_NON_MOVING, OBJ_LAYER_NON_MOVING);
+		PhysicsSystem physics_system = new PhysicsSystem();
+		physics_system.init(cMaxBodies, cNumBodyMutexes, cMaxBodyPairs, cMaxContactConstraints, broad_phase_layer_interface, object_vs_broadphase_layer_filter, object_vs_object_layer_filter);
+		StartTest(physics_system, EMotionQuality.LinearCast);
+		final float cDeltaTime = 1.0f / 60.0f;
+		physics_system.optimizeBroadPhase();
+		int step = 0;
+		for (;;) {
+			++step;
+			if (step < 300) break;
+			final int cCollisionSteps = 1;
+			physics_system.update(cDeltaTime, cCollisionSteps, temp_allocator, job_system);
+		}
+		TestUtils.cleanup();
+	}
+
+	static void			StartTest(PhysicsSystem inPhysicsSystem, EMotionQuality inMotionQuality)
+	{
+		BodyInterface bi = inPhysicsSystem.getBodyInterface();
+
+		// Floor
+		bi.createAndAddBody(new BodyCreationSettings(new BoxShape(new Vec3(50.0f, 1.0f, 50.0f), 0.0f), new RVec3(new Vec3(0.0f, -1.0f, 0.0f)), Quat.sIdentity(), EMotionType.Static, OBJ_LAYER_NON_MOVING), EActivation.DontActivate);
+
+		final float cBoxSize = 2.0f;
+		final float cBoxSeparation = 0.5f;
+		final float cHalfBoxSize = 0.5f * cBoxSize;
+		final int cPyramidHeight = 15;
+
+		ShapeRef box_shape = new BoxShape(Vec3.sReplicate(cHalfBoxSize), 0.0f).toRef(); // No convex radius to force more collisions
+
+		// Pyramid
+		for (int i = 0; i < cPyramidHeight; ++i)
+			for (int j = i / 2; j < cPyramidHeight - (i + 1) / 2; ++j)
+				for (int k = i / 2; k < cPyramidHeight - (i + 1) / 2; ++k)
+				{
+					RVec3 position = new RVec3(-cPyramidHeight + cBoxSize * j + (((i & 1)!=0)? cHalfBoxSize : 0.0f), 1.0f + (cBoxSize + cBoxSeparation) * i, -cPyramidHeight + cBoxSize * k + (((i & 1)!=0)? cHalfBoxSize : 0.0f));
+					BodyCreationSettings settings = new BodyCreationSettings(box_shape, position, Quat.sIdentity(), EMotionType.Dynamic, OBJ_LAYER_MOVING);
+					settings.setAllowSleeping(false); // No sleeping to force the large island to stay awake
+					bi.createAndAddBody(settings, EActivation.Activate);
+				}
+	}
+}