50 lines
2.2 KiB
C++
50 lines
2.2 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/General/CenterOfMassTest.h>
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#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/Shape/ConvexHullShape.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(CenterOfMassTest)
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{
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JPH_ADD_BASE_CLASS(CenterOfMassTest, Test)
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}
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void CenterOfMassTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Compound shape with center of mass offset
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Ref<StaticCompoundShapeSettings> compound_shape1 = new StaticCompoundShapeSettings;
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compound_shape1->AddShape(Vec3(10, 0, 0), Quat::sIdentity(), new SphereShape(2));
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(compound_shape1, RVec3(0, 10.0f, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Create box with center of mass offset
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Array<Vec3> box;
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box.push_back(Vec3(10, 10, 10));
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box.push_back(Vec3(5, 10, 10));
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box.push_back(Vec3(10, 5, 10));
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box.push_back(Vec3(5, 5, 10));
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box.push_back(Vec3(10, 10, 5));
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box.push_back(Vec3(5, 10, 5));
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box.push_back(Vec3(10, 5, 5));
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box.push_back(Vec3(5, 5, 5));
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ConvexHullShapeSettings(box), RVec3(0, 10.0f, 20.0f), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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// Compound
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Ref<StaticCompoundShapeSettings> compound_shape2 = new StaticCompoundShapeSettings;
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Quat rotation = Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI);
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compound_shape2->AddShape(Vec3(10, 0, 0), rotation, new CapsuleShape(5, 1));
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compound_shape2->AddShape(rotation * Vec3(10, -5, 0), Quat::sIdentity(), new SphereShape(4));
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compound_shape2->AddShape(rotation * Vec3(10, 5, 0), Quat::sIdentity(), new SphereShape(2));
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(compound_shape2, RVec3(0, 10.0f, 40.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
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}
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