Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer

lib/All/JoltPhysics/Samples/Tests/Constraints/ConstraintPriorityTest.cpp

@@ -0,0 +1,56 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Constraints/ConstraintPriorityTest.h>
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Layers.h>
+#include <Renderer/DebugRendererImp.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(ConstraintPriorityTest)
+{
+	JPH_ADD_BASE_CLASS(ConstraintPriorityTest, Test)
+}
+
+void ConstraintPriorityTest::Initialize()
+{
+	float box_size = 1.0f;
+	RefConst<Shape> box = new BoxShape(Vec3(0.5f * box_size, 0.2f, 0.2f));
+
+	const int num_bodies = 20;
+
+	// Bodies attached through fixed constraints
+	for (int priority = 0; priority < 2; ++priority)
+	{
+		RVec3 position(0, 10.0f, 0.2f * priority);
+		Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
+		mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
+
+		Body *prev = &top;
+		for (int i = 1; i < num_bodies; ++i)
+		{
+			position += Vec3(box_size, 0, 0);
+
+			Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::NON_MOVING)); // Putting all bodies in the NON_MOVING layer so they won't collide
+			mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
+
+			FixedConstraintSettings settings;
+			settings.mAutoDetectPoint = true;
+			settings.mConstraintPriority = priority == 0? i : num_bodies - i; // Priority is reversed for one chain compared to the other
+			Ref<Constraint> c = settings.Create(*prev, segment);
+			mPhysicsSystem->AddConstraint(c);
+			mConstraints.push_back(StaticCast<FixedConstraint>(c));
+
+			prev = &segment;
+		}
+	}
+}
+
+void ConstraintPriorityTest::PostPhysicsUpdate(float inDeltaTime)
+{
+	for (FixedConstraint *c : mConstraints)
+		mDebugRenderer->DrawText3D(0.5f * (c->GetBody1()->GetCenterOfMassPosition() + c->GetBody2()->GetCenterOfMassPosition()), StringFormat("Priority: %d", c->GetConstraintPriority()), Color::sWhite, 0.2f);
+}