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

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Tom Ray
2026-03-22 00:28:03 +01:00
parent 6695d46bcd
commit 48348936a8
1147 changed files with 214331 additions and 353 deletions
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lib/All/JoltPhysics/Samples/Tests/Constraints/PoweredHingeConstraintTest.cpp Normal file
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#include <TestFramework.h>
#include <Tests/Constraints/PoweredHingeConstraintTest.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/GroupFilterTable.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Application/DebugUI.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(PoweredHingeConstraintTest)
{
JPH_ADD_BASE_CLASS(PoweredHingeConstraintTest, Test)
}
void PoweredHingeConstraintTest::Initialize()
{
// Floor
CreateFloor();
// Create group filter
Ref<GroupFilterTable> group_filter = new GroupFilterTable;
// Create box
float box_size = 4.0f;
RefConst<Shape> box = new BoxShape(Vec3::sReplicate(0.5f * box_size));
RVec3 body1_position(0, 10, 0);
Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(box, body1_position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
body1.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
mBodyInterface->AddBody(body1.GetID(), EActivation::DontActivate);
RVec3 body2_position = body1_position + Vec3(box_size, 0, 0);
Body &body2 = *mBodyInterface->CreateBody(BodyCreationSettings(box, body2_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
body2.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
body2.GetMotionProperties()->SetLinearDamping(0.0f);
body2.GetMotionProperties()->SetAngularDamping(0.0f);
body2.SetAllowSleeping(false);
mBodyInterface->AddBody(body2.GetID(), EActivation::Activate);
RVec3 constraint_position = body1_position + Vec3(0.5f * box_size, 0, 0.5f * box_size);
HingeConstraintSettings settings;
settings.mPoint1 = settings.mPoint2 = constraint_position;
settings.mHingeAxis1 = settings.mHingeAxis2 = Vec3::sAxisY();
settings.mNormalAxis1 = settings.mNormalAxis2 = Vec3::sAxisX();
mConstraint = static_cast<HingeConstraint *>(settings.Create(body1, body2));
mConstraint->SetMotorState(EMotorState::Velocity);
mConstraint->SetTargetAngularVelocity(DegreesToRadians(25));
mPhysicsSystem->AddConstraint(mConstraint);
// Calculate inertia of body 2 as seen from the constraint
MassProperties body2_inertia_from_constraint;
body2_inertia_from_constraint.mMass = 1.0f / body2.GetMotionProperties()->GetInverseMass();
body2_inertia_from_constraint.mInertia = body2.GetMotionProperties()->GetLocalSpaceInverseInertia().Inversed3x3();
body2_inertia_from_constraint.Translate(Vec3(body2_position - constraint_position));
mInertiaBody2AsSeenFromConstraint = (body2_inertia_from_constraint.mInertia * Vec3::sAxisY()).Length();
}
void PoweredHingeConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
{
// Torque = Inertia * Angular Acceleration (alpha)
MotorSettings &motor_settings = mConstraint->GetMotorSettings();
motor_settings.SetTorqueLimit(mInertiaBody2AsSeenFromConstraint * sMaxAngularAcceleration);
motor_settings.mSpringSettings.mFrequency = sFrequency;
motor_settings.mSpringSettings.mDamping = sDamping;
mConstraint->SetMaxFrictionTorque(mInertiaBody2AsSeenFromConstraint * sMaxFrictionAngularAcceleration);
}
void PoweredHingeConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
{
inUI->CreateComboBox(inSubMenu, "Motor", { "Off", "Velocity", "Position" }, (int)mConstraint->GetMotorState(), [this](int inItem) { mConstraint->SetMotorState((EMotorState)inItem); });
inUI->CreateSlider(inSubMenu, "Target Angular Velocity (deg/s)", RadiansToDegrees(mConstraint->GetTargetAngularVelocity()), -90.0f, 90.0f, 1.0f, [this](float inValue) { mConstraint->SetTargetAngularVelocity(DegreesToRadians(inValue)); });
inUI->CreateSlider(inSubMenu, "Target Angle (deg)", RadiansToDegrees(mConstraint->GetTargetAngle()), -180.0f, 180.0f, 1.0f, [this](float inValue) { mConstraint->SetTargetAngle(DegreesToRadians(inValue)); });
inUI->CreateSlider(inSubMenu, "Max Angular Acceleration (deg/s^2)", RadiansToDegrees(sMaxAngularAcceleration), 0.0f, 3600.0f, 10.0f, [](float inValue) { sMaxAngularAcceleration = DegreesToRadians(inValue); });
inUI->CreateSlider(inSubMenu, "Frequency (Hz)", sFrequency, 0.0f, 20.0f, 0.1f, [](float inValue) { sFrequency = inValue; });
inUI->CreateSlider(inSubMenu, "Damping", sDamping, 0.0f, 2.0f, 0.01f, [](float inValue) { sDamping = inValue; });
inUI->CreateSlider(inSubMenu, "Max Friction Angular Acceleration (deg/s^2)", RadiansToDegrees(sMaxFrictionAngularAcceleration), 0.0f, 90.0f, 1.0f, [](float inValue) { sMaxFrictionAngularAcceleration = DegreesToRadians(inValue); });
}