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

2026-03-22 00:28:03 +01:00
parent 6695d46bcd
commit 48348936a8
1147 changed files with 214331 additions and 353 deletions
--- a/lib/All/JoltPhysics/Samples/Tests/Constraints/SwingTwistConstraintFrictionTest.cpp
+++ b/lib/All/JoltPhysics/Samples/Tests/Constraints/SwingTwistConstraintFrictionTest.cpp
@@ -0,0 +1,89 @@
+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/Constraints/SwingTwistConstraintFrictionTest.h>
+#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
+#include <Jolt/Physics/Collision/GroupFilterTable.h>
+#include <Jolt/Physics/Constraints/SwingTwistConstraint.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Layers.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(SwingTwistConstraintFrictionTest)
+{
+	JPH_ADD_BASE_CLASS(SwingTwistConstraintFrictionTest, Test)
+}
+
+void SwingTwistConstraintFrictionTest::Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Create group filter
+	Ref<GroupFilterTable> group_filter = new GroupFilterTable;
+
+	float half_cylinder_height = 1.5f;
+	RefConst<Shape> capsule = new CapsuleShape(half_cylinder_height, 0.5f);
+
+	RVec3 body1_position(0, 10, 0);
+	Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(capsule, 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(0, -2.0f * half_cylinder_height, 0);
+	Body &body2 = *mBodyInterface->CreateBody(BodyCreationSettings(capsule, 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);
+
+	SwingTwistConstraintSettings settings;
+	settings.mPosition1 = settings.mPosition2 = body1_position + Vec3(0, -half_cylinder_height, 0);
+	settings.mTwistAxis1 = settings.mTwistAxis2 = Vec3(0, -1, 0);
+	settings.mPlaneAxis1 = settings.mPlaneAxis2 = Vec3::sAxisX();
+	settings.mNormalHalfConeAngle = DegreesToRadians(90);
+	settings.mPlaneHalfConeAngle = DegreesToRadians(90);
+	settings.mTwistMinAngle = -JPH_PI;
+	settings.mTwistMaxAngle = JPH_PI;
+
+	float body2_inertia = (body2.GetMotionProperties()->GetLocalSpaceInverseInertia().Inversed3x3() * Vec3::sAxisY()).Length();
+	constexpr float max_angular_acceleration = DegreesToRadians(90.0f); // rad/s^2
+	settings.mMaxFrictionTorque = body2_inertia * max_angular_acceleration;
+
+	settings.mTwistMotorSettings = settings.mSwingMotorSettings = MotorSettings(10.0f, 2.0f);
+
+	mConstraint = static_cast<SwingTwistConstraint *>(settings.Create(body1, body2));
+	mPhysicsSystem->AddConstraint(mConstraint);
+}
+
+void SwingTwistConstraintFrictionTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
+{
+	mTime += inParams.mDeltaTime;
+
+	bool pause = fmod(mTime, 5.0f) > 2.5f;
+
+	if (pause)
+	{
+		mConstraint->SetSwingMotorState(EMotorState::Off);
+		mConstraint->SetTwistMotorState(EMotorState::Off);
+	}
+	else
+	{
+		mConstraint->SetSwingMotorState(EMotorState::Velocity);
+		mConstraint->SetTwistMotorState(EMotorState::Velocity);
+		mConstraint->SetTargetAngularVelocityCS(Vec3(DegreesToRadians(180.0f), 0, 0));
+	}
+}
+
+void SwingTwistConstraintFrictionTest::SaveState(StateRecorder &inStream) const
+{
+	inStream.Write(mTime);
+}
+
+void SwingTwistConstraintFrictionTest::RestoreState(StateRecorder &inStream)
+{
+	inStream.Read(mTime);
+}