56 lines
2.9 KiB
C++
56 lines
2.9 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/ScaledOffsetCenterOfMassShapeTest.h>
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#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
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#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
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#include <Jolt/Physics/Collision/Shape/ScaledShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.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(ScaledOffsetCenterOfMassShapeTest)
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{
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JPH_ADD_BASE_CLASS(ScaledOffsetCenterOfMassShapeTest, Test)
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}
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void ScaledOffsetCenterOfMassShapeTest::Initialize()
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{
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// Floor
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Body &floor = CreateFloor();
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floor.SetFriction(1.0f);
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Ref<ShapeSettings> cylinder = new CylinderShapeSettings(1.0f, 0.1f);
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Ref<OffsetCenterOfMassShapeSettings> top = new OffsetCenterOfMassShapeSettings(Vec3(0, 1, 0), cylinder);
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Ref<OffsetCenterOfMassShapeSettings> bottom = new OffsetCenterOfMassShapeSettings(Vec3(0, -1, 0), cylinder);
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// Initial body rotation
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Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.4f * JPH_PI);
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// Cylinder with center of mass moved to the top side
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Body &body_top = *mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShapeSettings(top, Vec3(2.0f, 1.0f, 2.0f)), RVec3(-5, 5, 0), rotation, EMotionType::Dynamic, Layers::MOVING));
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body_top.SetFriction(1.0f);
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mBodyInterface->AddBody(body_top.GetID(), EActivation::Activate);
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// Cylinder with center of mass centered
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Body &body_center = *mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShapeSettings(cylinder, Vec3(2.0f, 1.0f, 2.0f)), RVec3(0, 5, 0), rotation, EMotionType::Dynamic, Layers::MOVING));
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body_center.SetFriction(1.0f);
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mBodyInterface->AddBody(body_center.GetID(), EActivation::Activate);
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// Cylinder with center of mass moved to the bottom side
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Body &body_bottom = *mBodyInterface->CreateBody(BodyCreationSettings(new ScaledShapeSettings(bottom, Vec3(2.0f, 1.0f, 2.0f)), RVec3(5, 5, 0), rotation, EMotionType::Dynamic, Layers::MOVING));
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body_bottom.SetFriction(1.0f);
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mBodyInterface->AddBody(body_bottom.GetID(), EActivation::Activate);
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// Shape that is scaled before the offset center of mass offset is applied
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ShapeRefC pre_scaled = OffsetCenterOfMassShapeSettings(Vec3(0, 0, 5.0f), new ScaledShape(new SphereShape(1.0f), JPH::Vec3::sReplicate(2.0f))).Create().Get();
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(pre_scaled, RVec3(0, 5, -15), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Shape that is scaled after the offset center of mass offset is applied
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ShapeRefC post_scaled = new ScaledShape(OffsetCenterOfMassShapeSettings(Vec3(0, 0, 5.0f), new SphereShape(1.0f)).Create().Get(), JPH::Vec3::sReplicate(2.0f));
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(post_scaled, RVec3(5, 5, -15), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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}
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