Ajout de Jolt Physics + 1ere version des factory entitecomposants - camera, transform, rigidbody, collider, renderer
This commit is contained in:
Tom Ray
507
lib/All/JoltPhysics/UnitTests/Physics/SliderConstraintTests.cpp
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507
lib/All/JoltPhysics/UnitTests/Physics/SliderConstraintTests.cpp
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include "UnitTestFramework.h"
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#include "PhysicsTestContext.h"
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#include <Jolt/Physics/Constraints/SliderConstraint.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include "Layers.h"
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TEST_SUITE("SliderConstraintTests")
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{
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// Test a box attached to a slider constraint, test that the body doesn't move beyond the min limit
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TEST_CASE("TestSliderConstraintLimitMin")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const float cLimitMin = -7.0f;
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// Create group filter
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Ref<GroupFilterTable> group_filter = new GroupFilterTable;
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// Create two boxes
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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// Give body 2 velocity towards min limit (and ensure that it arrives well before 1 second)
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body2.SetLinearVelocity(-Vec3(10.0f, 0, 0));
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// Bodies will go through each other, make sure they don't collide
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body1.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
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body2.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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s.mLimitsMin = cLimitMin;
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s.mLimitsMax = 0.0f;
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Simulate
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c.Simulate(1.0f);
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// Test resulting velocity
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CHECK_APPROX_EQUAL(Vec3::sZero(), body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position
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CHECK_APPROX_EQUAL(cInitialPos + cLimitMin * s.mSliderAxis1, body2.GetPosition(), 1.0e-4f);
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}
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// Test a box attached to a slider constraint, test that the body doesn't move beyond the max limit
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TEST_CASE("TestSliderConstraintLimitMax")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const float cLimitMax = 7.0f;
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// Create two boxes
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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// Give body 2 velocity towards max limit (and ensure that it arrives well before 1 second)
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body2.SetLinearVelocity(Vec3(10.0f, 0, 0));
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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s.mLimitsMin = 0.0f;
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s.mLimitsMax = cLimitMax;
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Simulate
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c.Simulate(1.0f);
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// Test resulting velocity
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CHECK_APPROX_EQUAL(Vec3::sZero(), body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position
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CHECK_APPROX_EQUAL(cInitialPos + cLimitMax * s.mSliderAxis1, body2.GetPosition(), 1.0e-4f);
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}
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// Test a box attached to a slider constraint, test that a motor can drive it to a specific velocity
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TEST_CASE("TestSliderConstraintDriveVelocityStaticVsDynamic")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const float cMotorAcceleration = 2.0f;
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// Create two boxes
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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constexpr float mass = Cubed(2.0f) * 1000.0f; // Density * Volume
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s.mMotorSettings = MotorSettings(0.0f, 0.0f, mass * cMotorAcceleration, 0.0f);
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SliderConstraint &constraint = c.CreateConstraint<SliderConstraint>(body1, body2, s);
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constraint.SetMotorState(EMotorState::Velocity);
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constraint.SetTargetVelocity(1.5f * cMotorAcceleration);
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// Simulate
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c.Simulate(1.0f);
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// Test resulting velocity
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Vec3 expected_vel = cMotorAcceleration * s.mSliderAxis1;
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CHECK_APPROX_EQUAL(expected_vel, body2.GetLinearVelocity(), 1.0e-4f);
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// Simulate (after 0.5 seconds it should reach the target velocity)
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c.Simulate(1.0f);
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// Test resulting velocity
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expected_vel = 1.5f * cMotorAcceleration * s.mSliderAxis1;
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CHECK_APPROX_EQUAL(expected_vel, body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position (1.5s of acceleration + 0.5s of constant speed)
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RVec3 expected_pos = c.PredictPosition(cInitialPos, Vec3::sZero(), cMotorAcceleration * s.mSliderAxis1, 1.5f) + 0.5f * expected_vel;
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CHECK_APPROX_EQUAL(expected_pos, body2.GetPosition(), 1.0e-4f);
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}
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// Test 2 dynamic boxes attached to a slider constraint, test that a motor can drive it to a specific velocity
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TEST_CASE("TestSliderConstraintDriveVelocityDynamicVsDynamic")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const float cMotorAcceleration = 2.0f;
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// Create two boxes
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PhysicsTestContext c;
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c.ZeroGravity();
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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constexpr float mass = Cubed(2.0f) * 1000.0f; // Density * Volume
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s.mMotorSettings = MotorSettings(0.0f, 0.0f, mass * cMotorAcceleration, 0.0f);
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SliderConstraint &constraint = c.CreateConstraint<SliderConstraint>(body1, body2, s);
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constraint.SetMotorState(EMotorState::Velocity);
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constraint.SetTargetVelocity(3.0f * cMotorAcceleration);
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// Simulate
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c.Simulate(1.0f);
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// Test resulting velocity (both boxes move in opposite directions with the same force, so the resulting velocity difference is 2x as big as the previous test)
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Vec3 expected_vel = cMotorAcceleration * s.mSliderAxis1;
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CHECK_APPROX_EQUAL(-expected_vel, body1.GetLinearVelocity(), 1.0e-4f);
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CHECK_APPROX_EQUAL(expected_vel, body2.GetLinearVelocity(), 1.0e-4f);
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// Simulate (after 0.5 seconds it should reach the target velocity)
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c.Simulate(1.0f);
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// Test resulting velocity
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expected_vel = 1.5f * cMotorAcceleration * s.mSliderAxis1;
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CHECK_APPROX_EQUAL(-expected_vel, body1.GetLinearVelocity(), 1.0e-4f);
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CHECK_APPROX_EQUAL(expected_vel, body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position (1.5s of acceleration + 0.5s of constant speed)
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RVec3 expected_pos1 = c.PredictPosition(RVec3::sZero(), Vec3::sZero(), -cMotorAcceleration * s.mSliderAxis1, 1.5f) - 0.5f * expected_vel;
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RVec3 expected_pos2 = c.PredictPosition(cInitialPos, Vec3::sZero(), cMotorAcceleration * s.mSliderAxis1, 1.5f) + 0.5f * expected_vel;
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CHECK_APPROX_EQUAL(expected_pos1, body1.GetPosition(), 1.0e-4f);
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CHECK_APPROX_EQUAL(expected_pos2, body2.GetPosition(), 1.0e-4f);
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}
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// Test a box attached to a slider constraint, test that a motor can drive it to a specific position
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TEST_CASE("TestSliderConstraintDrivePosition")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const RVec3 cMotorPos(10.0f, 0, 0);
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// Create two boxes
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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SliderConstraint &constraint = c.CreateConstraint<SliderConstraint>(body1, body2, s);
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constraint.SetMotorState(EMotorState::Position);
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constraint.SetTargetPosition(Vec3(cMotorPos - cInitialPos).Dot(s.mSliderAxis1));
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// Simulate
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c.Simulate(2.0f);
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// Test resulting velocity
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CHECK_APPROX_EQUAL(Vec3::sZero(), body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position
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CHECK_APPROX_EQUAL(cMotorPos, body2.GetPosition(), 1.0e-4f);
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}
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// Test a box attached to a slider constraint, give it initial velocity and test that the friction provides the correct deceleration
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TEST_CASE("TestSliderConstraintFriction")
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{
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const RVec3 cInitialPos(3.0f, 0, 0);
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const Vec3 cInitialVelocity(10.0f, 0, 0);
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const float cFrictionAcceleration = 2.0f;
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const float cSimulationTime = 2.0f;
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// Create two boxes
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1));
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Body &body2 = c.CreateBox(cInitialPos, Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1));
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body2.SetLinearVelocity(cInitialVelocity);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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constexpr float mass = Cubed(2.0f) * 1000.0f; // Density * Volume
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s.mMaxFrictionForce = mass * cFrictionAcceleration;
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Simulate while applying friction
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c.Simulate(cSimulationTime);
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// Test resulting velocity
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Vec3 expected_vel = cInitialVelocity - cFrictionAcceleration * cSimulationTime * s.mSliderAxis1;
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CHECK_APPROX_EQUAL(expected_vel, body2.GetLinearVelocity(), 1.0e-4f);
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// Test resulting position
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RVec3 expected_pos = c.PredictPosition(cInitialPos, cInitialVelocity, -cFrictionAcceleration * s.mSliderAxis1, cSimulationTime);
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CHECK_APPROX_EQUAL(expected_pos, body2.GetPosition(), 1.0e-4f);
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}
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// Test if a slider constraint wakes up connected bodies
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TEST_CASE("TestSliderStaticVsKinematic")
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{
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// Create two boxes far away enough so they are not touching
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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Body &body2 = c.CreateBox(RVec3(10, 0, 0), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Verify they're not active
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the bodies should still not be active
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// Activate the kinematic body
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c.GetSystem()->GetBodyInterface().ActivateBody(body2.GetID());
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CHECK(!body1.IsActive());
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CHECK(body2.IsActive());
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// The static body should not become active (it can't)
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(body2.IsActive());
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}
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// Test if a slider constraint wakes up connected bodies
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TEST_CASE("TestSliderStaticVsDynamic")
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{
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// Create two boxes far away enough so they are not touching
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Static, EMotionQuality::Discrete, Layers::NON_MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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Body &body2 = c.CreateBox(RVec3(10, 0, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Verify they're not active
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the bodies should still not be active
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// Activate the dynamic body
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c.GetSystem()->GetBodyInterface().ActivateBody(body2.GetID());
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CHECK(!body1.IsActive());
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CHECK(body2.IsActive());
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// The static body should not become active (it can't)
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(body2.IsActive());
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}
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// Test if a slider constraint wakes up connected bodies
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TEST_CASE("TestSliderKinematicVsDynamic")
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{
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// Create two boxes far away enough so they are not touching
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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Body &body2 = c.CreateBox(RVec3(10, 0, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Verify they're not active
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the bodies should still not be active
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// Activate the keyframed body
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c.GetSystem()->GetBodyInterface().ActivateBody(body1.GetID());
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CHECK(body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, both bodies should be active now
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c.SimulateSingleStep();
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CHECK(body1.IsActive());
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CHECK(body2.IsActive());
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}
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// Test if a slider constraint wakes up connected bodies
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TEST_CASE("TestSliderKinematicVsKinematic")
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{
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// Create two boxes far away enough so they are not touching
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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Body &body2 = c.CreateBox(RVec3(10, 0, 0), Quat::sIdentity(), EMotionType::Kinematic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Verify they're not active
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the bodies should still not be active
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c.SimulateSingleStep();
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// Activate the first keyframed body
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c.GetSystem()->GetBodyInterface().ActivateBody(body1.GetID());
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CHECK(body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the second keyframed body should not be woken up
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c.SimulateSingleStep();
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CHECK(body1.IsActive());
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CHECK(!body2.IsActive());
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}
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// Test if a slider constraint wakes up connected bodies
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TEST_CASE("TestSliderDynamicVsDynamic")
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{
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// Create two boxes far away enough so they are not touching
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PhysicsTestContext c;
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Body &body1 = c.CreateBox(RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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Body &body2 = c.CreateBox(RVec3(10, 0, 0), Quat::sIdentity(), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::DontActivate);
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// Create slider constraint
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SliderConstraintSettings s;
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s.mAutoDetectPoint = true;
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s.SetSliderAxis(Vec3::sAxisX());
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c.CreateConstraint<SliderConstraint>(body1, body2, s);
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// Verify they're not active
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CHECK(!body1.IsActive());
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CHECK(!body2.IsActive());
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// After a physics step, the bodies should still not be active
|
||||
c.SimulateSingleStep();
|
||||
CHECK(!body1.IsActive());
|
||||
CHECK(!body2.IsActive());
|
||||
|
||||
// Activate the first dynamic body
|
||||
c.GetSystem()->GetBodyInterface().ActivateBody(body1.GetID());
|
||||
CHECK(body1.IsActive());
|
||||
CHECK(!body2.IsActive());
|
||||
|
||||
// After a physics step, both bodies should be active now
|
||||
c.SimulateSingleStep();
|
||||
CHECK(body1.IsActive());
|
||||
CHECK(body2.IsActive());
|
||||
}
|
||||
|
||||
// Test that when a reference frame is provided, the slider constraint is correctly constructed
|
||||
TEST_CASE("TestSliderReferenceFrame")
|
||||
{
|
||||
// Create two boxes in semi random position/orientation
|
||||
PhysicsTestContext c;
|
||||
Body &body1 = c.CreateBox(RVec3(1, 2, 3), Quat::sRotation(Vec3(1, 1, 1).Normalized(), 0.1f * JPH_PI), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::Activate);
|
||||
Body &body2 = c.CreateBox(RVec3(-3, -2, -1), Quat::sRotation(Vec3(1, 0, 1).Normalized(), 0.2f * JPH_PI), EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING, Vec3(1, 1, 1), EActivation::Activate);
|
||||
|
||||
// Disable collision between the boxes
|
||||
GroupFilterTable *group_filter = new GroupFilterTable(2);
|
||||
group_filter->DisableCollision(0, 1);
|
||||
body1.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
|
||||
body2.SetCollisionGroup(CollisionGroup(group_filter, 0, 1));
|
||||
|
||||
// Get their transforms
|
||||
RMat44 t1 = body1.GetCenterOfMassTransform();
|
||||
RMat44 t2 = body2.GetCenterOfMassTransform();
|
||||
|
||||
// Create slider constraint so that slider connects the bodies at their center of mass and rotated XY -> YZ
|
||||
SliderConstraintSettings s;
|
||||
s.mPoint1 = t1.GetTranslation();
|
||||
s.mSliderAxis1 = t1.GetColumn3(0);
|
||||
s.mNormalAxis1 = t1.GetColumn3(1);
|
||||
s.mPoint2 = t2.GetTranslation();
|
||||
s.mSliderAxis2 = t2.GetColumn3(1);
|
||||
s.mNormalAxis2 = t2.GetColumn3(2);
|
||||
SliderConstraint &constraint = c.CreateConstraint<SliderConstraint>(body1, body2, s);
|
||||
|
||||
// Activate the motor to drive to 0
|
||||
constraint.SetMotorState(EMotorState::Position);
|
||||
constraint.SetTargetPosition(0);
|
||||
|
||||
// Simulate for a second
|
||||
c.Simulate(1.0f);
|
||||
|
||||
// Now the bodies should have aligned so their COM is at the same position and they're rotated XY -> YZ
|
||||
t1 = body1.GetCenterOfMassTransform();
|
||||
t2 = body2.GetCenterOfMassTransform();
|
||||
CHECK_APPROX_EQUAL(t1.GetColumn3(0), t2.GetColumn3(1), 1.0e-4f);
|
||||
CHECK_APPROX_EQUAL(t1.GetColumn3(1), t2.GetColumn3(2), 1.0e-4f);
|
||||
CHECK_APPROX_EQUAL(t1.GetColumn3(2), t2.GetColumn3(0), 1.0e-4f);
|
||||
CHECK_APPROX_EQUAL(t1.GetTranslation(), t2.GetTranslation(), 1.0e-2f);
|
||||
}
|
||||
|
||||
// Test if the slider constraint can be used to create a spring
|
||||
TEST_CASE("TestSliderSpring")
|
||||
{
|
||||
// Configuration of the spring
|
||||
const RVec3 cInitialPosition(10, 0, 0);
|
||||
const float cFrequency = 2.0f;
|
||||
const float cDamping = 0.1f;
|
||||
|
||||
for (int mode = 0; mode < 2; ++mode)
|
||||
{
|
||||
// Create a sphere
|
||||
PhysicsTestContext context;
|
||||
Body &body = context.CreateSphere(cInitialPosition, 0.5f, EMotionType::Dynamic, EMotionQuality::Discrete, Layers::MOVING);
|
||||
body.GetMotionProperties()->SetLinearDamping(0.0f);
|
||||
|
||||
// Calculate stiffness and damping of spring
|
||||
float m = 1.0f / body.GetMotionProperties()->GetInverseMass();
|
||||
float omega = 2.0f * JPH_PI * cFrequency;
|
||||
float k = m * Square(omega);
|
||||
float c = 2.0f * m * cDamping * omega;
|
||||
|
||||
// Create spring
|
||||
SliderConstraintSettings constraint;
|
||||
constraint.mPoint2 = cInitialPosition;
|
||||
if (mode == 0)
|
||||
{
|
||||
// First iteration use stiffness and damping
|
||||
constraint.mLimitsSpringSettings.mMode = ESpringMode::StiffnessAndDamping;
|
||||
constraint.mLimitsSpringSettings.mStiffness = k;
|
||||
constraint.mLimitsSpringSettings.mDamping = c;
|
||||
}
|
||||
else
|
||||
{
|
||||
// Second iteration use frequency and damping
|
||||
constraint.mLimitsSpringSettings.mMode = ESpringMode::FrequencyAndDamping;
|
||||
constraint.mLimitsSpringSettings.mFrequency = cFrequency;
|
||||
constraint.mLimitsSpringSettings.mDamping = cDamping;
|
||||
}
|
||||
constraint.mLimitsMin = constraint.mLimitsMax = 0.0f;
|
||||
context.CreateConstraint<SliderConstraint>(Body::sFixedToWorld, body, constraint);
|
||||
|
||||
// Simulate spring
|
||||
Real x = cInitialPosition.GetX();
|
||||
float v = 0.0f;
|
||||
float dt = context.GetDeltaTime();
|
||||
for (int i = 0; i < 120; ++i)
|
||||
{
|
||||
// Using the equations from page 32 of Soft Constraints: Reinventing The Spring - Erin Catto - GDC 2011 for an implicit euler spring damper
|
||||
v = (v - dt * k / m * float(x)) / (1.0f + dt * c / m + Square(dt) * k / m);
|
||||
x += v * dt;
|
||||
|
||||
// Run physics simulation
|
||||
context.SimulateSingleStep();
|
||||
|
||||
// Test if simulation matches prediction
|
||||
CHECK_APPROX_EQUAL(x, body.GetPosition().GetX(), 5.0e-6_r);
|
||||
CHECK_APPROX_EQUAL(body.GetPosition().GetY(), 0);
|
||||
CHECK_APPROX_EQUAL(body.GetPosition().GetZ(), 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user