81 lines
3.3 KiB
C++
81 lines
3.3 KiB
C++
|
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
||
|
|
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
|
||
|
|
// SPDX-License-Identifier: MIT
|
||
|
|
|
||
|
|
#include <TestFramework.h>
|
||
|
|
|
||
|
|
#include <Tests/ScaledShapes/ScaledStaticCompoundShapeTest.h>
|
||
|
|
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
|
||
|
|
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
|
||
|
|
#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
|
||
|
|
#include <Jolt/Physics/Body/BodyCreationSettings.h>
|
||
|
|
#include <Layers.h>
|
||
|
|
|
||
|
|
JPH_IMPLEMENT_RTTI_VIRTUAL(ScaledStaticCompoundShapeTest)
|
||
|
|
{
|
||
|
|
JPH_ADD_BASE_CLASS(ScaledStaticCompoundShapeTest, Test)
|
||
|
|
}
|
||
|
|
|
||
|
|
void ScaledStaticCompoundShapeTest::Initialize()
|
||
|
|
{
|
||
|
|
// Floor
|
||
|
|
CreateFloor();
|
||
|
|
|
||
|
|
// Left end
|
||
|
|
Array<Vec3> end1;
|
||
|
|
end1.push_back(Vec3(0, 0, 0));
|
||
|
|
end1.push_back(Vec3(0, 0, 1));
|
||
|
|
end1.push_back(Vec3(2, 0, 0));
|
||
|
|
end1.push_back(Vec3(2, 0, 1));
|
||
|
|
end1.push_back(Vec3(0, 1, 0));
|
||
|
|
end1.push_back(Vec3(0, 1, 1));
|
||
|
|
end1.push_back(Vec3(2, 1, 0));
|
||
|
|
end1.push_back(Vec3(2, 1, 1));
|
||
|
|
RefConst<ShapeSettings> end1_shape = new ConvexHullShapeSettings(end1);
|
||
|
|
|
||
|
|
// Right end
|
||
|
|
Array<Vec3> end2;
|
||
|
|
end2.push_back(Vec3(0, 0, 0));
|
||
|
|
end2.push_back(Vec3(0, 0, 5));
|
||
|
|
end2.push_back(Vec3(0, 1, 0));
|
||
|
|
end2.push_back(Vec3(0, 1, 5));
|
||
|
|
end2.push_back(Vec3(1, 0, 0));
|
||
|
|
end2.push_back(Vec3(1, 0, 5));
|
||
|
|
end2.push_back(Vec3(1, 1, 0));
|
||
|
|
end2.push_back(Vec3(1, 1, 5));
|
||
|
|
RefConst<ShapeSettings> end2_shape = new ConvexHullShapeSettings(end2);
|
||
|
|
|
||
|
|
// Central part
|
||
|
|
Array<Vec3> center;
|
||
|
|
center.push_back(Vec3(0, 0, 0));
|
||
|
|
center.push_back(Vec3(0, 0, 1));
|
||
|
|
center.push_back(Vec3(0, 1, 0));
|
||
|
|
center.push_back(Vec3(0, 1, 1));
|
||
|
|
center.push_back(Vec3(10, 0, 0));
|
||
|
|
center.push_back(Vec3(10, 0, 1));
|
||
|
|
center.push_back(Vec3(10, 1, 0));
|
||
|
|
center.push_back(Vec3(10, 1, 1));
|
||
|
|
RefConst<ShapeSettings> center_shape = new ConvexHullShapeSettings(center);
|
||
|
|
|
||
|
|
// Create compound
|
||
|
|
Ref<StaticCompoundShapeSettings> compound_shape = new StaticCompoundShapeSettings;
|
||
|
|
compound_shape->AddShape(Vec3(-5, -1.5f, -0.5f), Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI), end1_shape);
|
||
|
|
compound_shape->AddShape(Vec3(5, -0.5f, -0.5f), Quat::sIdentity(), end2_shape);
|
||
|
|
compound_shape->AddShape(Vec3(-5, -0.5f, -0.5f), Quat::sIdentity(), center_shape);
|
||
|
|
|
||
|
|
// Original shape
|
||
|
|
mBodyInterface->CreateAndAddBody(BodyCreationSettings(compound_shape, RVec3(-40, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
|
||
|
|
|
||
|
|
// Uniformly scaled shape
|
||
|
|
mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(compound_shape, Vec3::sReplicate(0.25f)), RVec3(-20, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
|
||
|
|
|
||
|
|
// Non-uniform scaled shape
|
||
|
|
mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(compound_shape, Vec3(0.25f, 0.5f, 1.5f)), RVec3(0, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
|
||
|
|
|
||
|
|
// Flipped in 2 axis
|
||
|
|
mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(compound_shape, Vec3(-0.25f, 0.5f, -1.5f)), RVec3(20, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
|
||
|
|
|
||
|
|
// Inside out
|
||
|
|
mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(compound_shape, Vec3(-0.25f, 0.5f, 1.5f)), RVec3(40, 10, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
|
||
|
|
}
|