#67

CMakeLists.txt

@@ -36,6 +36,11 @@ FetchContent_Declare(json
 )
 FetchContent_MakeAvailable(json)
 
+FetchContent_Declare(googletest
+        URL https://github.com/google/googletest/archive/refs/heads/main.zip
+)
+FetchContent_MakeAvailable(googletest)
+
 add_subdirectory(lib)
 
 if (USE_OPEN_GL)
@@ -53,10 +58,8 @@ if (USE_OPEN_GL)
     )
     FetchContent_MakeAvailable(glad)
 
-    link_libraries(OpenGL::GL glfw glm glad)
     target_link_libraries(${LIBRARY_NAME} PUBLIC glfw)
     target_link_libraries(${LIBRARY_NAME} PUBLIC glad)
-#    target_link_libraries(${LIBRARY_NAME} PUBLIC OpenGL::GL)
 endif ()
 
 
@@ -70,6 +73,7 @@ endif()
 
 target_link_libraries(${LIBRARY_NAME} PUBLIC eigen)
 target_link_libraries(${LIBRARY_NAME} PUBLIC nlohmann_json::nlohmann_json)
+target_include_directories(${LIBRARY_NAME} PUBLIC "${BARTA_ENGINE_DIR}/include")
 
 target_compile_features(${LIBRARY_NAME} PRIVATE cxx_std_20)
 
@@ -86,12 +90,9 @@ install(
         LIBRARY DESTINATION lib
 )
 
-enable_testing()
-#add_subdirectory(test/run )
-#
-#install(
-#        TARGETS ${RUN_TEST_NAME}
-#        ARCHIVE DESTINATION lib
-#        LIBRARY DESTINATION lib
-#        RUNTIME DESTINATION bin
-#)
+set(TESTS_TARGET_NAME BartaTests)
+
+add_executable(${TESTS_TARGET_NAME}  test/main.cpp)
+add_subdirectory(test)
+
+gtest_discover_tests(${TESTS_TARGET_NAME})

Makefile

@@ -6,13 +6,19 @@ configure:
 	cmake -B build -S . -G "Unix Makefiles"
 
 build_p:
-	cmake --build build --target BartaEngine_lib --config Debug
+	cmake --build cmake-build-debug --target BartaEngine_lib --config Debug -j 18 --
+
+build_tests:
+	cmake --build cmake-build-debug --target BartaEngine_lib --config Debug -j 18 --
 
 clang_format:
-	cmake --build build --target run_clang_format -j 18 --
+	cmake --build cmake-build-debug --target run_clang_format -j 18 --
 # clang tidy doesn't work woth pch and g++
 # clang_tidy_barta_engine:
 #	cmake --build build --target BartaEngine_clangtidy
 
 run:
 	./build/bin/run_sandbox
+
+run_tests:
+	./cmake-build-debug/test/BartaTests

bin/create_class.bash

@@ -7,88 +7,119 @@ fi
 
 classname="$1"
 root_path="/home/bartanakin/repos/BartaEngine"
-current_path="$(pwd)"
+current_dir="$(pwd)"
 
-if [[ "$current_path" != "$root_path/include"* ]]; then
+if [[ "$current_dir" != "$root_path/include"* ]]; then
     echo "Error: This script must be run within a subdirectory of $root_path."
     exit 1
 fi
 
-relative_path="$(echo "$current_path" | sed -n 's|.*\/include/||p')"
-rootDirectoryNamespace="Barta::$(echo "$relative_path" | sed 's|/|::|g')"
+relative_dir="$(echo "$current_dir" | sed -n 's|.*\/include/||p')"
+rootDirectoryNamespace="Barta::$(echo "$relative_dir" | sed 's|/|::|g')"
 
 # Create the header file
-header_dir="$root_path/include/$relative_path"
-header_file="$header_dir/$classname.h"
+header_dir="$root_path/include/$relative_dir"
+header_file="$root_path/include/$relative_dir/$classname.h"
 
 mkdir -p "$header_dir"
 
-echo "#pragma once" > "$header_file"
-echo "#include <pch.h>" >> "$header_file"
-echo "" >> "$header_file"
-echo "namespace $rootDirectoryNamespace {" >> "$header_file"
-echo "    class $classname {" >> "$header_file"
-echo "    };" >> "$header_file"
-echo "}" >> "$header_file"
-
-echo "Header file '$header_file' created successfully."
-
-# Create the source directory if it doesn't exist
-source_dir="$root_path/lib/$relative_path"
-parent_source_dir="$(dirname "$source_dir")"
-
-if [ ! -d "$source_dir" ]; then
-    mkdir -p "$source_dir"
-    echo "Created directory '$source_dir'"
-
-    # Ensure the parent directory has a CMakeLists.txt
-    parent_cmake_file="$parent_source_dir/CMakeLists.txt"
-    if [ ! -f "$parent_cmake_file" ]; then
-        touch "$parent_cmake_file"
-        echo "Created parent CMakeLists.txt at '$parent_cmake_file'"
+if [ ! -f "$header_file" ]; then
+    echo "#pragma once" > "$header_file"
+    echo "#include <pch.h>" >> "$header_file"
+    echo "" >> "$header_file"
+    echo "namespace $rootDirectoryNamespace {" >> "$header_file"
+    echo "class $classname {};" >> "$header_file"
+    echo "}" >> "$header_file"
+
+    echo "Header file '$header_file' created successfully."
+else
+    echo "Header file '$header_file' already exists."
+fi
+
+# Traverse up the directory tree to ensure all CMakeLists.txt files exist and include subdirs
+add_cmakelists_recursively() {
+    local root_dir="$1"
+    local relative_dir="$2"
+    local classname="$3"
+    local target_name="$4"
+    local dir="$root_dir/$relative_dir"
+
+    mkdir -p "$dir"
+
+    # Ensure base CMakeLists.txt exists
+    base_cmake="$dir/CMakeLists.txt"
+    if [ ! -f "$base_cmake" ]; then
+        touch "$base_cmake"
+        echo "Created base CMakeLists.txt at $base_cmake"
     fi
 
-    # Add add_subdirectory if not already present
-    dir_name="$(basename "$source_dir")"
-    if ! grep -q "add_subdirectory($dir_name)" "$parent_cmake_file"; then
-        echo "Adding add_subdirectory($dir_name) to $parent_cmake_file..."
-        echo "" >> "$parent_cmake_file"
-        echo "add_subdirectory($dir_name)" >> "$parent_cmake_file"
+    # Ensure the source file is added to target_sources
+    if ! grep -q "target_sources(\${${target_name}} PUBLIC" "$base_cmake"; then
+        echo "Adding target_sources block to CMakeLists.txt..."
+        echo -e "target_sources(\${${target_name}} PUBLIC\n    $classname.cpp\n)" >> "$base_cmake"
+    else
+        if ! grep -q "$classname.cpp" "$base_cmake"; then
+            echo "Adding $classname.cpp to target_sources..."
+            sed -i "/target_sources(\${${target_name}} PUBLIC/a \    $classname.cpp" "$base_cmake"
+        else
+            echo "$classname.cpp is already in CMakeLists.txt."
+        fi
     fi
-fi
 
-# Define the CMakeLists.txt file path
-cmake_file=""
-if [ -f "$source_dir/CMakeLists.txt" ]; then
-    cmake_file="$source_dir/CMakeLists.txt"
-else
-    cmake_file="$source_dir/CMakeLists.txt"
-    touch "$cmake_file"
-    echo "Created empty CMakeLists.txt in '$source_dir'"
-fi
+    while [ "$dir" != "$root_dir" ]; do
+        parent_dir="$(dirname "$dir")"
+        dir_name="$(basename "$dir")"
 
-# Create the source file
-source_file="$source_dir/$classname.cpp"
+        cmake_file="$parent_dir/CMakeLists.txt"
+        if [ ! -f "$cmake_file" ]; then
+            touch "$cmake_file"
+            echo "Created CMakeLists.txt at $cmake_file"
+        fi
+
+        if ! grep -q "add_subdirectory($dir_name)" "$cmake_file"; then
+            echo "" >> "$cmake_file"
+            echo "add_subdirectory($dir_name)" >> "$cmake_file"
+            echo "Linked $dir_name in $cmake_file"
+        fi
 
-echo "#include <$relative_path/$classname.h>" > "$source_file"
-echo "" >> "$source_file"
-echo "namespace $rootDirectoryNamespace {" >> "$source_file"
-echo "}" >> "$source_file"
+        dir="$parent_dir"
+    done
 
-echo "Source file '$source_file' created successfully."
+    echo "CMakeLists.txt updated successfully."
+}
 
-# Ensure the source file is added to target_sources
-if ! grep -q "target_sources(\${LIBRARY_NAME} PUBLIC" "$cmake_file"; then
-    echo "Adding target_sources block to CMakeLists.txt..."
-    echo -e "target_sources(\${LIBRARY_NAME} PUBLIC\n    $classname.cpp\n)" >> "$cmake_file"
+
+add_cmakelists_recursively "$root_path/lib" "$relative_dir" "$classname" "LIBRARY_NAME"
+
+# Create the source file
+lib_file_path="$root_path/lib/$relative_dir/$classname.cpp"
+
+if [ ! -f "$lib_file_path" ]; then
+    echo "#include <$relative_dir/$classname.h>" > "$lib_file_path"
+    echo "" >> "$lib_file_path"
+    echo "namespace $rootDirectoryNamespace {" >> "$lib_file_path"
+    echo "}" >> "$lib_file_path"
+
+    echo "Source file '$lib_file_path' created successfully."
 else
-    # Check if the source file is already in the list
-    if ! grep -q "$classname.cpp" "$cmake_file"; then
-        echo "Adding $classname.cpp to target_sources..."
-        sed -i "/target_sources(\${LIBRARY_NAME} PUBLIC/a \    $classname.cpp" "$cmake_file"
-    else
-        echo "$classname.cpp is already in CMakeLists.txt."
-    fi
+    echo "Source file '$lib_file_path' already exists."
+fi
+add_cmakelists_recursively "$root_path/test" "$relative_dir" "${classname}Test" "TESTS_TARGET_NAME"
+
+# Create the test file
+test_file_path="$root_path/test/$relative_dir/${classname}Test.cpp"
+if [ ! -f "$test_file_path" ]; then
+    echo "#include <pch.h>" > "$test_file_path"
+    echo "#include <gtest/gtest.h>" >> "$test_file_path"
+    echo "#include <$relative_dir/$classname.h>" >> "$test_file_path"
+    echo "" >> "$test_file_path"
+    echo "using namespace $rootDirectoryNamespace;" >> "$test_file_path"
+    echo "" >> "$test_file_path"
+    echo "TEST(${classname}Test, ExampleTest) {" >> "$test_file_path"
+    echo "    EXPECT_TRUE(true);" >> "$test_file_path"
+    echo "}" >> "$test_file_path"
+
+    echo "Test file '$test_file_path' created successfully."
+else
+    echo "Test file '$test_file_path' already exists."
 fi
-
-echo "CMakeLists.txt updated successfully."

include/Application.h

@@ -37,6 +37,8 @@ template<typename CollisionLogger, typename EventLogger, typename ObjectManager,
 
     virtual void run() {
         this->graphicsBridge->createWindow(Vector2f(700.f, 700.f), this->windowName);
+        this->timer.restart();
+        std::this_thread::sleep_for(std::chrono::milliseconds(2));
         while (this->isRunning() && this->graphicsBridge->logEvents(*(this->eventLogger))) {
             this->timer.restart();
             while (!timer.finished()) {

include/Collisions/CheckCollisionVisitorInterface.h

@@ -12,6 +12,6 @@ class CheckCollisionVisitorInterface {
 
     virtual CollisionTestResult checkStaticCollision(CollisionTestResultBuilder& collisionTestResultBuilder) const = 0;
 
-    virtual CollisionTestResult checkDynamicCollision(const float delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const = 0;
+    virtual CollisionTestResult checkDynamicCollision(PrecisionType delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const = 0;
 };
 }

include/Collisions/CheckCollisionVisitors/CircleAABBCheckCollisionVisitor.h

@@ -14,7 +14,7 @@ class CircleAABBCheckCollisionVisitor: public CheckCollisionVisitorInterface {
 
     CollisionTestResult checkStaticCollision(CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
-    CollisionTestResult checkDynamicCollision(float delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
+    CollisionTestResult checkDynamicCollision(PrecisionType delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
 private:
     const Circle circle;

include/Collisions/CheckCollisionVisitors/CircleCircleCheckCollisionVisitor.h

@@ -12,7 +12,7 @@ class CircleCircleCheckCollisionVisitor: public CheckCollisionVisitorInterface {
 
     CollisionTestResult checkStaticCollision(CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
-    CollisionTestResult checkDynamicCollision(float delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
+    CollisionTestResult checkDynamicCollision(PrecisionType delta_time, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
 private:
     const Circle circle1;

include/Collisions/CheckCollisionVisitors/OBB_AABBCheckCollisionVisitor.h

@@ -14,7 +14,7 @@ class OBB_AABBCheckCollisionVisitor: public CheckCollisionVisitorInterface {
 
     CollisionTestResult checkStaticCollision(CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
-    CollisionTestResult checkDynamicCollision(float deltaTime, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
+    CollisionTestResult checkDynamicCollision(PrecisionType deltaTime, CollisionTestResultBuilder& collisionTestResultBuilder) const override;
 
     Point calculateCollisionPoint() const;
 

include/Dynamics/DynamicsDTOCollection.h

@@ -20,6 +20,8 @@ class DynamicsDTOCollection {
     using DynamicsDTOArray = std::array<DynamicsDTO, NUMBER_OF_ITERATIONS>;
     DynamicsDTOArray dynamicsDTOs;
 
+    DynamicsDTOCollection() noexcept = default;
+
     explicit DynamicsDTOCollection(
         std::array<DynamicsDTO, NUMBER_OF_ITERATIONS> dynamicsDTOs
     ):

include/Dynamics/Mass/ConstantPointMassDistributionCalculator.h

@@ -0,0 +1,16 @@
+#pragma once
+#include "MassDistributionCalculatorInterface.h"
+#include "Objects/Soft/SoftObject.h"
+#include <pch.h>
+
+namespace Barta::Dynamics::Mass {
+class ConstantPointMassDistributionCalculator: public virtual MassDistributionCalculatorInterface {
+public:
+    ConstantPointMassDistributionCalculator() = default;
+
+    void prepareMassDistribution(Objects::Soft::SoftObject& object) override;
+
+    SoftBody::StiffnessMatrixType assembleInverseMassMatrix(const Objects::Soft::Mesh& mesh, const Objects::Soft::NodalVectorType& positions)
+        override;
+};
+}

include/Dynamics/Mass/MassDistributionCalculatorInterface.h

@@ -0,0 +1,20 @@
+#pragma once
+#include "Dynamics/SoftBody/SoftBodyDynamicsInterface.h"
+#include "Objects/Soft/Mesh.h"
+#include "Objects/Soft/SoftObject.h"
+#include <pch.h>
+
+namespace Barta::Dynamics::Mass {
+class MassDistributionCalculatorInterface {
+public:
+    MassDistributionCalculatorInterface() noexcept = default;
+    virtual ~MassDistributionCalculatorInterface() noexcept = default;
+
+    virtual void prepareMassDistribution(Objects::Soft::SoftObject& object) = 0;
+
+    virtual SoftBody::StiffnessMatrixType assembleInverseMassMatrix(
+        const Objects::Soft::Mesh& mesh,
+        const Objects::Soft::NodalVectorType& positions
+    ) = 0;
+};
+}

include/Dynamics/SoftBody/SoftBodyDynamicsInterface.h

@@ -0,0 +1,29 @@
+#pragma once
+#include "Geometrics/Quaternion.h"
+#include "Objects/Soft/Mesh.h"
+#include "Objects/Soft/TetrahedralElement.h"
+#include "Utilities/MatrixUtilities.h"
+#include <pch.h>
+
+namespace Barta::Dynamics::SoftBody {
+
+using StiffnessMatrixType = Eigen::MatrixX<PrecisionType>;
+using NodalVectorType = Objects::Soft::NodalVectorType;
+
+class SoftBodyDynamicsInterface {
+public:
+    SoftBodyDynamicsInterface() = default;
+    virtual ~SoftBodyDynamicsInterface() = default;
+
+    virtual StiffnessMatrixType assembleTangentStiffnessMatrix(const Objects::Soft::Mesh& elements, const NodalVectorType& nodesPositions) = 0;
+
+    virtual NodalVectorType calculateNodalForces(const Objects::Soft::Mesh& elements, const NodalVectorType& nodesPositions) = 0;
+
+    static void emplace12Matrix(
+        const Utils::Matrix12Type& m12,
+        const std::array<unsigned int, 4>& nodeIndices,
+        StiffnessMatrixType& stiffnessMatrix,
+        unsigned int block3x3Count
+    );
+};
+}

include/Dynamics/SoftBody/StVenantKirchhoffDynamics.h

@@ -0,0 +1,12 @@
+#pragma once
+#include "SoftBodyDynamicsInterface.h"
+#include <pch.h>
+
+namespace Barta::Dynamics::SoftBody {
+class StVenantKirchhoffDynamics: public virtual SoftBodyDynamicsInterface {
+public:
+    StiffnessMatrixType assembleTangentStiffnessMatrix(const Objects::Soft::Mesh& elements, const NodalVectorType& nodesPositions) override;
+
+    NodalVectorType calculateNodalForces(const Objects::Soft::Mesh& elements, const NodalVectorType& nodesPositions) override;
+};
+}