63 lines
2.2 KiB
C++
63 lines
2.2 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/General/AllowedDOFsTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Constraints/DistanceConstraint.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Renderer/DebugRendererImp.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(AllowedDOFsTest)
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{
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JPH_ADD_BASE_CLASS(AllowedDOFsTest, Test)
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}
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void AllowedDOFsTest::Initialize()
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{
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// Floor
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CreateFloor();
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Vec3 box_size(0.5f, 1.0f, 2.0f);
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RefConst<Shape> box_shape = new BoxShape(box_size);
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for (int allowed_dofs = 1; allowed_dofs <= 0b111111; ++allowed_dofs)
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{
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float x = -35.0f + 10.0f * (allowed_dofs & 0b111);
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float z = -35.0f + 10.0f * ((allowed_dofs >> 3) & 0b111);
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// Create body
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BodyCreationSettings bcs(box_shape, RVec3(x, 10, z), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
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bcs.mAllowedDOFs = (EAllowedDOFs)allowed_dofs;
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BodyID id = mBodyInterface->CreateAndAddBody(bcs, EActivation::Activate);
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mBodies.push_back(id);
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// Create a constraint
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DistanceConstraintSettings dcs;
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dcs.mPoint1 = bcs.mPosition + Vec3(5, 5, 5);
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dcs.mPoint2 = bcs.mPosition + box_size;
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dcs.mMinDistance = 0.0f;
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dcs.mMaxDistance = sqrt(3.0f) * 5.0f + 1.0f;
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mPhysicsSystem->AddConstraint(mBodyInterface->CreateConstraint(&dcs, BodyID(), id));
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// Draw degrees of freedom
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String allowed_dofs_str = "";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::TranslationX) == EAllowedDOFs::TranslationX)
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allowed_dofs_str += "X ";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::TranslationY) == EAllowedDOFs::TranslationY)
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allowed_dofs_str += "Y ";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::TranslationZ) == EAllowedDOFs::TranslationZ)
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allowed_dofs_str += "Z ";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::RotationX) == EAllowedDOFs::RotationX)
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allowed_dofs_str += "RX ";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::RotationY) == EAllowedDOFs::RotationY)
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allowed_dofs_str += "RY ";
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if ((EAllowedDOFs(allowed_dofs) & EAllowedDOFs::RotationZ) == EAllowedDOFs::RotationZ)
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allowed_dofs_str += "RZ ";
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SetBodyLabel(id, allowed_dofs_str);
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}
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}
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