47 lines
1.5 KiB
C++
47 lines
1.5 KiB
C++
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/SoftBody/SoftBodyKinematicTest.h>
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#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
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#include <Jolt/Physics/SoftBody/SoftBodyMotionProperties.h>
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#include <Utils/SoftBodyCreator.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(SoftBodyKinematicTest)
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{
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JPH_ADD_BASE_CLASS(SoftBodyKinematicTest, Test)
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}
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void SoftBodyKinematicTest::Initialize()
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{
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// Floor
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CreateFloor();
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// A sphere
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Ref<SoftBodySharedSettings> sphere_settings = SoftBodyCreator::CreateSphere();
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sphere_settings->mVertices[0].mInvMass = 0.0f;
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sphere_settings->mVertices[0].mVelocity = Float3(0, 0, 5);
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SoftBodyCreationSettings sphere(sphere_settings, RVec3(0, 5, 0), Quat::sIdentity(), Layers::MOVING);
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sphere.mPressure = 2000.0f;
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mSphereID = mBodyInterface->CreateAndAddSoftBody(sphere, EActivation::Activate);
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}
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void SoftBodyKinematicTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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// Update the velocity of the first vertex
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BodyLockWrite body_lock(mPhysicsSystem->GetBodyLockInterface(), mSphereID);
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if (body_lock.Succeeded())
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{
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Body &body = body_lock.GetBody();
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SoftBodyMotionProperties *mp = static_cast<SoftBodyMotionProperties *>(body.GetMotionProperties());
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RVec3 com = body.GetCenterOfMassPosition();
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if (com.GetZ() >= 10.0f)
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mp->GetVertex(0).mVelocity = Vec3(0, 0, -5);
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else if (com.GetZ() <= -10.0f)
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mp->GetVertex(0).mVelocity = Vec3(0, 0, 5);
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}
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}
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