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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/Shapes/OffsetCenterOfMassShapeTest.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/Shapes/OffsetCenterOfMassShapeTest.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Collision/Shape/OffsetCenterOfMassShape.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(OffsetCenterOfMassShapeTest)
{
JPH_ADD_BASE_CLASS(OffsetCenterOfMassShapeTest, Test)
}
void OffsetCenterOfMassShapeTest::Initialize()
{
// Floor
Body &floor = CreateFloor();
floor.SetFriction(1.0f);
Ref<ShapeSettings> sphere = new SphereShapeSettings(1.0f);
Ref<OffsetCenterOfMassShapeSettings> left = new OffsetCenterOfMassShapeSettings(Vec3(-1, 0, 0), sphere);
Ref<OffsetCenterOfMassShapeSettings> right = new OffsetCenterOfMassShapeSettings(Vec3(1, 0, 0), sphere);
// Sphere with center of mass moved to the left side
Body &body_left = *mBodyInterface->CreateBody(BodyCreationSettings(left, RVec3(-5, 5, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
body_left.SetFriction(1.0f);
mBodyInterface->AddBody(body_left.GetID(), EActivation::Activate);
// Sphere with center of mass centered
Body &body_center = *mBodyInterface->CreateBody(BodyCreationSettings(sphere, RVec3(0, 5, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
body_center.SetFriction(1.0f);
mBodyInterface->AddBody(body_center.GetID(), EActivation::Activate);
// Sphere with center of mass moved to the right side
Body &body_right = *mBodyInterface->CreateBody(BodyCreationSettings(right, RVec3(5, 5, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
body_right.SetFriction(1.0f);
mBodyInterface->AddBody(body_right.GetID(), EActivation::Activate);
// Create body and apply a large angular impulse so see that it spins around the COM
BodyCreationSettings bcs(new OffsetCenterOfMassShapeSettings(Vec3(-3, 0, 0), new SphereShapeSettings(1.0f)), RVec3(-5, 5, 10), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
bcs.mGravityFactor = 0.0f;
bcs.mLinearDamping = 0.0f;
bcs.mAngularDamping = 0.0f;
Body *body_rotating1 = mBodyInterface->CreateBody(bcs);
mBodyInterface->AddBody(body_rotating1->GetID(), EActivation::Activate);
body_rotating1->AddAngularImpulse(Vec3(0, 1.0e6f, 0));
// Create the same body but this time apply a torque
bcs.mPosition = RVec3(5, 5, 10);
Body *body_rotating2 = mBodyInterface->CreateBody(bcs);
mBodyInterface->AddBody(body_rotating2->GetID(), EActivation::Activate);
body_rotating2->AddTorque(Vec3(0, 1.0e6f * 60.0f, 0)); // Assuming physics sim is at 60Hz here, otherwise the bodies won't rotate with the same speed
}