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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/RackAndPinionConstraintTest.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/RackAndPinionConstraintTest.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/Shape/CylinderShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
#include <Jolt/Physics/Collision/GroupFilterTable.h>
#include <Jolt/Physics/Constraints/HingeConstraint.h>
#include <Jolt/Physics/Constraints/SliderConstraint.h>
#include <Jolt/Physics/Constraints/RackAndPinionConstraint.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(RackAndPinionConstraintTest)
{
JPH_ADD_BASE_CLASS(RackAndPinionConstraintTest, Test)
}
void RackAndPinionConstraintTest::Initialize()
{
// Floor
CreateFloor();
constexpr float cGearRadius = 0.5f;
constexpr float cGearHalfWidth = 0.05f;
constexpr int cGearNumTeeth = 100;
constexpr float cRackLength = 10.0f;
constexpr float cRackHalfHeight = 0.1f;
constexpr float cRackHalfWidth = 0.05f;
constexpr int cRackNumTeeth = int(cRackLength * cGearNumTeeth / (2.0f * JPH_PI * cGearRadius));
constexpr float cToothThicknessBottom = 0.01f;
constexpr float cToothThicknessTop = 0.005f;
constexpr float cToothHeight = 0.02f;
// Create a tooth
Array<Vec3> tooth_points = {
Vec3(0, cGearHalfWidth, cToothThicknessBottom),
Vec3(0, -cGearHalfWidth, cToothThicknessBottom),
Vec3(0, cGearHalfWidth, -cToothThicknessBottom),
Vec3(0, -cGearHalfWidth, -cToothThicknessBottom),
Vec3(cToothHeight, -cGearHalfWidth, cToothThicknessTop),
Vec3(cToothHeight, cGearHalfWidth, cToothThicknessTop),
Vec3(cToothHeight, -cGearHalfWidth, -cToothThicknessTop),
Vec3(cToothHeight, cGearHalfWidth, -cToothThicknessTop),
};
ConvexHullShapeSettings tooth_settings(tooth_points);
tooth_settings.SetEmbedded();
// Create gear
CylinderShapeSettings gear_cylinder(cGearHalfWidth, cGearRadius);
gear_cylinder.SetEmbedded();
StaticCompoundShapeSettings gear_settings;
gear_settings.SetEmbedded();
gear_settings.AddShape(Vec3::sZero(), Quat::sIdentity(), &gear_cylinder);
for (int i = 0; i < cGearNumTeeth; ++i)
{
Quat rotation = Quat::sRotation(Vec3::sAxisY(), 2.0f * JPH_PI * i / cGearNumTeeth);
gear_settings.AddShape(rotation * Vec3(cGearRadius, 0, 0), rotation, &tooth_settings);
}
RVec3 gear_initial_p(0, 2.0f, 0);
Quat gear_initial_r = Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI);
Body *gear = mBodyInterface->CreateBody(BodyCreationSettings(&gear_settings, gear_initial_p, gear_initial_r, EMotionType::Dynamic, Layers::MOVING));
mBodyInterface->AddBody(gear->GetID(), EActivation::Activate);
// Create rack
BoxShapeSettings rack_box(Vec3(cRackHalfHeight, cRackHalfWidth, 0.5f * cRackLength), 0.0f);
rack_box.SetEmbedded();
StaticCompoundShapeSettings rack_settings;
rack_settings.SetEmbedded();
rack_settings.AddShape(Vec3::sZero(), Quat::sIdentity(), &rack_box);
for (int i = 0; i < cRackNumTeeth; ++i)
rack_settings.AddShape(Vec3(cRackHalfHeight, 0, -0.5f * cRackLength + (i + 0.5f) * cRackLength / cRackNumTeeth), Quat::sIdentity(), &tooth_settings);
RVec3 slider_initial_p = gear_initial_p - Vec3(0, cGearRadius + cRackHalfHeight + cToothHeight, 0);
Quat slider_initial_r = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI) * gear_initial_r;
Body *rack = mBodyInterface->CreateBody(BodyCreationSettings(&rack_settings, slider_initial_p, slider_initial_r, EMotionType::Dynamic, Layers::MOVING));
mBodyInterface->AddBody(rack->GetID(), EActivation::Activate);
// Create a hinge for the gear
HingeConstraintSettings hinge;
hinge.mPoint1 = hinge.mPoint2 = gear_initial_p;
hinge.mHingeAxis1 = hinge.mHingeAxis2 = Vec3::sAxisZ();
hinge.mNormalAxis1 = hinge.mNormalAxis2 = Vec3::sAxisX();
Constraint *hinge_constraint = hinge.Create(Body::sFixedToWorld, *gear);
mPhysicsSystem->AddConstraint(hinge_constraint);
// Create a slider for the rack
SliderConstraintSettings slider;
slider.mPoint1 = slider.mPoint2 = gear_initial_p;
slider.mSliderAxis1 = slider.mSliderAxis2 = Vec3::sAxisX();
slider.mNormalAxis1 = slider.mNormalAxis2 = Vec3::sAxisZ();
slider.mLimitsMin = -0.5f * cRackLength;
slider.mLimitsMax = 0.5f * cRackLength;
Constraint *slider_constraint = slider.Create(Body::sFixedToWorld, *rack);
mPhysicsSystem->AddConstraint(slider_constraint);
// Disable collision between rack and gear (we want the rack and pinion constraint to take care of the relative movement)
Ref<GroupFilterTable> group_filter = new GroupFilterTable(2);
group_filter->DisableCollision(0, 1);
gear->SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
rack->SetCollisionGroup(CollisionGroup(group_filter, 0, 1));
// Create rack and pinion constraint to constrain the two bodies
RackAndPinionConstraintSettings randp;
randp.mHingeAxis = hinge.mHingeAxis1;
randp.mSliderAxis = slider.mSliderAxis2;
randp.SetRatio(cRackNumTeeth, cRackLength, cGearNumTeeth);
RackAndPinionConstraint *randp_constraint = static_cast<RackAndPinionConstraint *>(randp.Create(*gear, *rack));
randp_constraint->SetConstraints(hinge_constraint, slider_constraint);
mPhysicsSystem->AddConstraint(randp_constraint);
// Give the gear a spin
gear->SetAngularVelocity(Vec3(0, 0, 6.0f));
}