58 lines
2.7 KiB
C++
58 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/Shapes/OffsetCenterOfMassShapeTest.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.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(OffsetCenterOfMassShapeTest)
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{
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JPH_ADD_BASE_CLASS(OffsetCenterOfMassShapeTest, Test)
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}
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void OffsetCenterOfMassShapeTest::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> sphere = new SphereShapeSettings(1.0f);
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Ref<OffsetCenterOfMassShapeSettings> left = new OffsetCenterOfMassShapeSettings(Vec3(-1, 0, 0), sphere);
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Ref<OffsetCenterOfMassShapeSettings> right = new OffsetCenterOfMassShapeSettings(Vec3(1, 0, 0), sphere);
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// Sphere with center of mass moved to the left side
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Body &body_left = *mBodyInterface->CreateBody(BodyCreationSettings(left, RVec3(-5, 5, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body_left.SetFriction(1.0f);
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mBodyInterface->AddBody(body_left.GetID(), EActivation::Activate);
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// Sphere with center of mass centered
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Body &body_center = *mBodyInterface->CreateBody(BodyCreationSettings(sphere, RVec3(0, 5, 0), Quat::sIdentity(), 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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// Sphere with center of mass moved to the right side
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Body &body_right = *mBodyInterface->CreateBody(BodyCreationSettings(right, RVec3(5, 5, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body_right.SetFriction(1.0f);
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mBodyInterface->AddBody(body_right.GetID(), EActivation::Activate);
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// Create body and apply a large angular impulse so see that it spins around the COM
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BodyCreationSettings bcs(new OffsetCenterOfMassShapeSettings(Vec3(-3, 0, 0), new SphereShapeSettings(1.0f)), RVec3(-5, 5, 10), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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bcs.mGravityFactor = 0.0f;
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bcs.mLinearDamping = 0.0f;
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bcs.mAngularDamping = 0.0f;
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Body *body_rotating1 = mBodyInterface->CreateBody(bcs);
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mBodyInterface->AddBody(body_rotating1->GetID(), EActivation::Activate);
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body_rotating1->AddAngularImpulse(Vec3(0, 1.0e6f, 0));
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// Create the same body but this time apply a torque
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bcs.mPosition = RVec3(5, 5, 10);
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Body *body_rotating2 = mBodyInterface->CreateBody(bcs);
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mBodyInterface->AddBody(body_rotating2->GetID(), EActivation::Activate);
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body_rotating2->AddTorque(Vec3(0, 1.0e6f * 60.0f, 0)); // Assuming physics sim is at 60Hz here, otherwise the bodies won't rotate with the same speed
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}
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