57 lines
2.1 KiB
C++
57 lines
2.1 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/Constraints/ConstraintPriorityTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Layers.h>
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#include <Renderer/DebugRendererImp.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(ConstraintPriorityTest)
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{
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JPH_ADD_BASE_CLASS(ConstraintPriorityTest, Test)
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}
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void ConstraintPriorityTest::Initialize()
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{
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float box_size = 1.0f;
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RefConst<Shape> box = new BoxShape(Vec3(0.5f * box_size, 0.2f, 0.2f));
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const int num_bodies = 20;
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// Bodies attached through fixed constraints
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for (int priority = 0; priority < 2; ++priority)
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{
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RVec3 position(0, 10.0f, 0.2f * priority);
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Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
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mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
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Body *prev = ⊤
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for (int i = 1; i < num_bodies; ++i)
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{
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position += Vec3(box_size, 0, 0);
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Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(box, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::NON_MOVING)); // Putting all bodies in the NON_MOVING layer so they won't collide
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mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
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FixedConstraintSettings settings;
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settings.mAutoDetectPoint = true;
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settings.mConstraintPriority = priority == 0? i : num_bodies - i; // Priority is reversed for one chain compared to the other
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Ref<Constraint> c = settings.Create(*prev, segment);
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mPhysicsSystem->AddConstraint(c);
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mConstraints.push_back(StaticCast<FixedConstraint>(c));
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prev = &segment;
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}
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}
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}
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void ConstraintPriorityTest::PostPhysicsUpdate(float inDeltaTime)
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{
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for (FixedConstraint *c : mConstraints)
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mDebugRenderer->DrawText3D(0.5f * (c->GetBody1()->GetCenterOfMassPosition() + c->GetBody2()->GetCenterOfMassPosition()), StringFormat("Priority: %d", c->GetConstraintPriority()), Color::sWhite, 0.2f);
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}
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