67 lines
2.7 KiB
C++
67 lines
2.7 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/ScaledShapes/ScaledConvexHullShapeTest.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(ScaledConvexHullShapeTest)
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{
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JPH_ADD_BASE_CLASS(ScaledConvexHullShapeTest, Test)
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}
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void ScaledConvexHullShapeTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Create tetrahedron
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Array<Vec3> tetrahedron;
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tetrahedron.push_back(Vec3::sZero());
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tetrahedron.push_back(Vec3(10, 0, 12.5f));
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tetrahedron.push_back(Vec3(15, 0, 2.5f));
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tetrahedron.push_back(Vec3(10, -5, 5));
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// Create vertices for box
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Array<Vec3> box;
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box.push_back(Vec3(1, 2, 3));
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box.push_back(Vec3(-1, 2, 3));
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box.push_back(Vec3(1, -2, 3));
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box.push_back(Vec3(-1, -2, 3));
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box.push_back(Vec3(1, 2, -3));
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box.push_back(Vec3(-1, 2, -3));
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box.push_back(Vec3(1, -2, -3));
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box.push_back(Vec3(-1, -2, -3));
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// Rotate and translate vertices
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Mat44 m = Mat44::sTranslation(Vec3(3.0f, -2.0f, 1.0f)) * Mat44::sRotationY(0.2f * JPH_PI) * Mat44::sRotationZ(0.1f * JPH_PI);
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for (Vec3 &v : box)
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v = m * v;
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// Create convex hulls
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RefConst<ShapeSettings> hull_shape[2] = { new ConvexHullShapeSettings(tetrahedron), new ConvexHullShapeSettings(box) };
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for (int i = 0; i < 2; ++i)
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{
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// Original shape
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(hull_shape[i], RVec3(-40, 10, i * 20.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Uniformly scaled shape
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(hull_shape[i], Vec3::sReplicate(0.25f)), RVec3(-20, 10, i * 20.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Non-uniform scaled shape
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(hull_shape[i], Vec3(0.25f, 0.5f, 1.5f)), RVec3(0, 10, i * 20.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Flipped in 2 axis
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(hull_shape[i], Vec3(-0.25f, 0.5f, -1.5f)), RVec3(20, 10, i * 20.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Inside out
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ScaledShapeSettings(hull_shape[i], Vec3(-0.25f, 0.5f, 1.5f)), RVec3(40, 10, i * 20.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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}
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}
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