41 lines
1.6 KiB
C
41 lines
1.6 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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#pragma once
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#include <Tests/Test.h>
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#include <Jolt/Physics/Constraints/SwingTwistConstraint.h>
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class PoweredSwingTwistConstraintTest : public Test
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{
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public:
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JPH_DECLARE_RTTI_VIRTUAL(JPH_NO_EXPORT, PoweredSwingTwistConstraintTest)
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virtual void Initialize() override;
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virtual void PrePhysicsUpdate(const PreUpdateParams &inParams) override;
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virtual void GetInitialCamera(CameraState &ioState) const override;
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virtual bool HasSettingsMenu() const override { return true; }
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virtual void CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu) override;
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private:
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static Vec3 sBodyRotation[2];
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inline static EMotorState sSwingMotorState = EMotorState::Velocity;
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inline static EMotorState sTwistMotorState = EMotorState::Velocity;
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inline static Vec3 sTargetVelocityCS = Vec3(DegreesToRadians(90), 0, 0);
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inline static Vec3 sTargetOrientationCS = Vec3::sZero();
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inline static float sMaxAngularAcceleration = DegreesToRadians(36000.0f);
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inline static float sMaxFrictionAngularAcceleration = 0.0f;
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inline static float sNormalHalfConeAngle = DegreesToRadians(60);
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inline static float sPlaneHalfConeAngle = DegreesToRadians(45);
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inline static float sTwistMinAngle = DegreesToRadians(-180);
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inline static float sTwistMaxAngle = DegreesToRadians(180);
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inline static float sFrequency = 10.0f;
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inline static float sDamping = 2.0f;
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SwingTwistConstraint * mConstraint = nullptr;
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float mInertiaBody2AsSeenFromConstraint;
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};
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