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

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

@@ -0,0 +1,104 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Constraints/ConstraintSingularityTest.h>
+#include <Jolt/Physics/Collision/Shape/BoxShape.h>
+#include <Jolt/Physics/Collision/GroupFilterTable.h>
+#include <Jolt/Physics/Constraints/HingeConstraint.h>
+#include <Jolt/Physics/Constraints/FixedConstraint.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Layers.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(ConstraintSingularityTest)
+{
+	JPH_ADD_BASE_CLASS(ConstraintSingularityTest, Test)
+}
+
+void ConstraintSingularityTest::Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	float box_size = 4.0f;
+	RefConst<Shape> box = new BoxShape(Vec3::sReplicate(0.5f * box_size));
+
+	const int num_constraint_types = 2;
+	const int num_configurations = 4;
+
+	// Create group filter
+	Ref<GroupFilterTable> group_filter = new GroupFilterTable;
+	CollisionGroup::GroupID group_id = 0;
+
+	for (int constraint_type = 0; constraint_type < num_constraint_types; ++constraint_type)
+		for (int configuration = 0; configuration < num_configurations; ++configuration)
+		{
+			RVec3 test_position(10.0f * constraint_type, 10.0f + 10.0f * configuration, 0);
+
+			Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(box, test_position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
+			body1.SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
+			mBodyInterface->AddBody(body1.GetID(), EActivation::DontActivate);
+
+			Body &body2 = *mBodyInterface->CreateBody(BodyCreationSettings(box, test_position + Vec3(box_size, 0, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
+			body2.SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
+			mBodyInterface->AddBody(body2.GetID(), EActivation::Activate);
+
+			Constraint *constraint;
+			switch (constraint_type)
+			{
+			case 0:
+				{
+					HingeConstraintSettings settings;
+					settings.mPoint1 = settings.mPoint2 = test_position + Vec3(0.5f * box_size, 0, 0.5f * box_size);
+					settings.mHingeAxis1 = settings.mHingeAxis2 = Vec3::sAxisY();
+					settings.mNormalAxis1 = settings.mNormalAxis2 = Vec3::sAxisX();
+					settings.mLimitsMin = -0.01f;
+					settings.mLimitsMax = 0.01f;
+					constraint = settings.Create(body1, body2);
+					break;
+				}
+
+			default:
+				{
+					FixedConstraintSettings settings;
+					settings.mAutoDetectPoint = true;
+					constraint = settings.Create(body1, body2);
+					break;
+				}
+			}
+
+			mPhysicsSystem->AddConstraint(constraint);
+
+			RVec3 position;
+			Quat orientation;
+			switch (configuration)
+			{
+			case 0:
+				position = test_position + Vec3(0, 0, box_size);
+				orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(180.0f));
+				break;
+
+			case 1:
+				position = test_position + Vec3(0, 0, box_size);
+				orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(-90.0f)) * Quat::sRotation(Vec3::sAxisX(), DegreesToRadians(180.0f));
+				break;
+
+			case 2:
+				position = test_position + Vec3(box_size, 0, 0);
+				orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(90.0f)) * Quat::sRotation(Vec3::sAxisZ(), DegreesToRadians(90.0f));
+				break;
+
+			default:
+				JPH_ASSERT(configuration == 3);
+				position = test_position + Vec3(-box_size, 0, 0);
+				orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(90.0f)) * Quat::sRotation(Vec3::sAxisZ(), DegreesToRadians(90.0f));
+				break;
+			}
+
+			mBodyInterface->SetPositionAndRotation(body2.GetID(), position, orientation, EActivation::DontActivate);
+
+			++group_id;
+		}
+}