56 lines
2.0 KiB
C++
56 lines
2.0 KiB
C++
// 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 <TestFramework.h>
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#include <Tests/Constraints/PointConstraintTest.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include <Jolt/Physics/Constraints/PointConstraint.h>
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#include <Jolt/Physics/Body/BodyCreationSettings.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(PointConstraintTest)
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{
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JPH_ADD_BASE_CLASS(PointConstraintTest, Test)
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}
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void PointConstraintTest::Initialize()
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{
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// Floor
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CreateFloor();
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float half_cylinder_height = 2.5f;
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const int cChainLength = 15;
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// Build a collision group filter that disables collision between adjacent bodies
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Ref<GroupFilterTable> group_filter = new GroupFilterTable(cChainLength);
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for (CollisionGroup::SubGroupID i = 0; i < cChainLength - 1; ++i)
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group_filter->DisableCollision(i, i + 1);
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// Bodies attached through point constraints
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Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI);
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RVec3 position(0, 50, 0);
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Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Static, Layers::NON_MOVING));
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top.SetCollisionGroup(CollisionGroup(group_filter, 0, 0));
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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 < cChainLength; ++i)
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{
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position += Vec3(2.0f * half_cylinder_height, 0, 0);
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Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Dynamic, Layers::MOVING));
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segment.SetCollisionGroup(CollisionGroup(group_filter, 0, CollisionGroup::SubGroupID(i)));
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mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
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PointConstraintSettings settings;
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settings.mPoint1 = settings.mPoint2 = position + Vec3(-half_cylinder_height, 0, 0);
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mPhysicsSystem->AddConstraint(settings.Create(*prev, segment));
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prev = &segment;
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}
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}
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