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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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149
lib/All/JoltPhysics/Samples/Tests/Constraints/SliderConstraintTest.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/SliderConstraintTest.h>
#include <Jolt/Physics/Collision/Shape/BoxShape.h>
#include <Jolt/Physics/Collision/GroupFilterTable.h>
#include <Jolt/Physics/Constraints/SliderConstraint.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(SliderConstraintTest)
{
JPH_ADD_BASE_CLASS(SliderConstraintTest, Test)
}
void SliderConstraintTest::Initialize()
{
// Floor
CreateFloor();
const int cChainLength = 10;
// Create group filter
Ref<GroupFilterTable> group_filter = new GroupFilterTable(cChainLength);
for (CollisionGroup::SubGroupID i = 0; i < cChainLength - 1; ++i)
group_filter->DisableCollision(i, i + 1);
CollisionGroup::GroupID group_id = 0;
// Create box
float box_size = 4.0f;
RefConst<Shape> box = new BoxShape(Vec3::sReplicate(0.5f * box_size));
// Bodies attached through slider constraints
for (int randomness = 0; randomness < 2; ++randomness)
{
RVec3 position(0, 25.0f, -randomness * 20.0f);
Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
top.SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
default_random_engine random;
uniform_real_distribution<float> displacement(-1.0f, 1.0f);
Body *prev = &top;
for (int i = 1; i < cChainLength; ++i)
{
Quat rotation;
Vec3 slider_axis;
if (randomness == 0)
{
position += Vec3(box_size, 0, 0);
rotation = Quat::sIdentity();
slider_axis = Quat::sRotation(Vec3::sAxisZ(), -DegreesToRadians(10)).RotateAxisX();
}
else
{
position += Vec3(box_size + abs(displacement(random)), displacement(random), displacement(random));
rotation = Quat::sRandom(random);
slider_axis = Quat::sRotation(Vec3::sAxisY(), displacement(random) * DegreesToRadians(20)) * Quat::sRotation(Vec3::sAxisZ(), -DegreesToRadians(10)).RotateAxisX();
}
Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, rotation, EMotionType::Dynamic, Layers::MOVING));
segment.SetCollisionGroup(CollisionGroup(group_filter, group_id, CollisionGroup::SubGroupID(i)));
mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
SliderConstraintSettings settings;
settings.mAutoDetectPoint = true;
settings.SetSliderAxis(slider_axis);
settings.mLimitsMin = -5.0f;
settings.mLimitsMax = 10.0f;
mPhysicsSystem->AddConstraint(settings.Create(*prev, segment));
prev = &segment;
}
group_id++;
}
{
// Two light bodies attached to a heavy body (gives issues if the wrong anchor point is chosen)
Body *light1 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.1f)), RVec3(-5.0f, 7.0f, -5.2f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
light1->SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
mBodyInterface->AddBody(light1->GetID(), EActivation::Activate);
Body *heavy = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(5.0f)), RVec3(-5.0f, 7.0f, 0.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
heavy->SetCollisionGroup(CollisionGroup(group_filter, group_id, 1));
mBodyInterface->AddBody(heavy->GetID(), EActivation::Activate);
Body *light2 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.1f)), RVec3(-5.0f, 7.0f, 5.2f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
light2->SetCollisionGroup(CollisionGroup(group_filter, group_id, 2));
mBodyInterface->AddBody(light2->GetID(), EActivation::Activate);
++group_id;
// Note: This violates the recommendation that body 1 is heavier than body 2, therefore this constraint will not work well (the rotation constraint will not be solved accurately)
SliderConstraintSettings slider1;
slider1.mAutoDetectPoint = true;
slider1.SetSliderAxis(Vec3::sAxisZ());
slider1.mLimitsMin = 0.0f;
slider1.mLimitsMax = 1.0f;
mPhysicsSystem->AddConstraint(slider1.Create(*light1, *heavy));
// This constraint has the heavy body as body 1 so will work fine
SliderConstraintSettings slider2;
slider2.mAutoDetectPoint = true;
slider2.SetSliderAxis(Vec3::sAxisZ());
slider2.mLimitsMin = 0.0f;
slider2.mLimitsMax = 1.0f;
mPhysicsSystem->AddConstraint(slider2.Create(*heavy, *light2));
}
{
// Two bodies vertically stacked with a slider constraint
Body *vert1 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sOne()), RVec3(5, 9, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
vert1->SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
mBodyInterface->AddBody(vert1->GetID(), EActivation::Activate);
Body *vert2 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sOne()), RVec3(5, 3, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
vert2->SetCollisionGroup(CollisionGroup(group_filter, group_id, 1));
mBodyInterface->AddBody(vert2->GetID(), EActivation::Activate);
++group_id;
SliderConstraintSettings slider;
slider.mAutoDetectPoint = true;
slider.SetSliderAxis(Vec3::sAxisY());
slider.mLimitsMin = 0.0f;
slider.mLimitsMax = 2.0f;
mPhysicsSystem->AddConstraint(slider.Create(*vert1, *vert2));
}
{
// Two bodies vertically stacked with a slider constraint using soft limits
Body *vert1 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sOne()), RVec3(10, 9, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
vert1->SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
mBodyInterface->AddBody(vert1->GetID(), EActivation::Activate);
Body *vert2 = mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sOne()), RVec3(10, 3, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
vert2->SetCollisionGroup(CollisionGroup(group_filter, group_id, 1));
mBodyInterface->AddBody(vert2->GetID(), EActivation::Activate);
++group_id;
SliderConstraintSettings slider;
slider.mAutoDetectPoint = true;
slider.SetSliderAxis(Vec3::sAxisY());
slider.mLimitsMin = 0.0f;
slider.mLimitsMax = 2.0f;
slider.mLimitsSpringSettings.mFrequency = 1.0f;
slider.mLimitsSpringSettings.mDamping = 0.5f;
mPhysicsSystem->AddConstraint(slider.Create(*vert1, *vert2));
}
}