75 lines
3.6 KiB
C++
75 lines
3.6 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/Constraints/PoweredSliderConstraintTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include <Jolt/Physics/Constraints/SliderConstraint.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Application/DebugUI.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(PoweredSliderConstraintTest)
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{
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JPH_ADD_BASE_CLASS(PoweredSliderConstraintTest, Test)
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}
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void PoweredSliderConstraintTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Create group filter
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Ref<GroupFilterTable> group_filter = new GroupFilterTable;
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// Create box
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float box_size = 4.0f;
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RefConst<Shape> box = new BoxShape(Vec3::sReplicate(0.5f * box_size));
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RVec3 position(0, 10, 0);
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Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
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body1.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
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mBodyInterface->AddBody(body1.GetID(), EActivation::DontActivate);
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position += Vec3(box_size + 10.0f, 0, 0);
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mBody2 = mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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mBody2->SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
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mBody2->GetMotionProperties()->SetLinearDamping(0.0f);
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mBody2->SetAllowSleeping(false);
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mBodyInterface->AddBody(mBody2->GetID(), EActivation::Activate);
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SliderConstraintSettings settings;
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settings.mAutoDetectPoint = true;
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settings.SetSliderAxis(Vec3::sAxisX());
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settings.mLimitsMin = -5.0f;
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settings.mLimitsMax = 100.0f;
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mConstraint = static_cast<SliderConstraint *>(settings.Create(body1, *mBody2));
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mConstraint->SetMotorState(EMotorState::Velocity);
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mConstraint->SetTargetVelocity(1);
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mPhysicsSystem->AddConstraint(mConstraint);
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}
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void PoweredSliderConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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MotorSettings &motor_settings = mConstraint->GetMotorSettings();
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motor_settings.SetForceLimit(sMaxMotorAcceleration / mBody2->GetMotionProperties()->GetInverseMass()); // F = m * a
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motor_settings.mSpringSettings.mFrequency = sFrequency;
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motor_settings.mSpringSettings.mDamping = sDamping;
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mConstraint->SetMaxFrictionForce(sMaxFrictionAcceleration / mBody2->GetMotionProperties()->GetInverseMass());
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}
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void PoweredSliderConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
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{
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inUI->CreateComboBox(inSubMenu, "Motor", { "Off", "Velocity", "Position" }, (int)mConstraint->GetMotorState(), [this](int inItem) { mConstraint->SetMotorState((EMotorState)inItem); });
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inUI->CreateSlider(inSubMenu, "Target Velocity (m/s)", mConstraint->GetTargetVelocity(), -10.0f, 10.0f, 0.1f, [this](float inValue) { mConstraint->SetTargetVelocity(inValue); });
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inUI->CreateSlider(inSubMenu, "Target Position (m)", mConstraint->GetTargetPosition(), -5.0f, 20.0f, 0.1f, [this](float inValue) { mConstraint->SetTargetPosition(inValue); });
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inUI->CreateSlider(inSubMenu, "Max Acceleration (m/s^2)", sMaxMotorAcceleration, 0.0f, 250.0f, 1.0f, [](float inValue) { sMaxMotorAcceleration = inValue; });
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inUI->CreateSlider(inSubMenu, "Frequency (Hz)", sFrequency, 0.0f, 20.0f, 0.1f, [](float inValue) { sFrequency = inValue; });
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inUI->CreateSlider(inSubMenu, "Damping", sDamping, 0.0f, 2.0f, 0.01f, [](float inValue) { sDamping = inValue; });
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inUI->CreateSlider(inSubMenu, "Max Friction Acceleration (m/s^2)", sMaxFrictionAcceleration, 0.0f, 10.0f, 0.1f, [](float inValue) { sMaxFrictionAcceleration = inValue; });
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}
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