69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
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// SPDX-FileCopyrightText: 2022 Jorrit Rouwe
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// SPDX-License-Identifier: MIT
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#include <TestFramework.h>
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#include <Tests/Constraints/PulleyConstraintTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Constraints/PulleyConstraint.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(PulleyConstraintTest)
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{
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JPH_ADD_BASE_CLASS(PulleyConstraintTest, Test)
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}
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void PulleyConstraintTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Variation 0: Max length (rope)
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// Variation 1: Fixed length (rigid rod)
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// Variation 2: Min/max length
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// Variation 3: With ratio (block and tackle)
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for (int variation = 0; variation < 4; ++variation)
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{
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RVec3 position1(-10, 10, -10.0f * variation);
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Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.5f)), position1, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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mBodyInterface->AddBody(body1.GetID(), EActivation::Activate);
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RVec3 position2(10, 10, -10.0f * variation);
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Body &body2 = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.5f)), position2, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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mBodyInterface->AddBody(body2.GetID(), EActivation::Activate);
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PulleyConstraintSettings settings;
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settings.mBodyPoint1 = position1 + Vec3(0, 0.5f, 0); // Connect at the top of the block
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settings.mBodyPoint2 = position2 + Vec3(0, 0.5f, 0);
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settings.mFixedPoint1 = settings.mBodyPoint1 + Vec3(0, 10, 0);
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settings.mFixedPoint2 = settings.mBodyPoint2 + Vec3(0, 10, 0);
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switch (variation)
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{
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case 0:
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// Can't extend but can contract
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break;
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case 1:
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// Fixed size
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settings.mMinLength = settings.mMaxLength = -1;
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break;
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case 2:
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// With range
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settings.mMinLength = 18.0f;
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settings.mMaxLength = 22.0f;
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break;
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case 3:
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// With ratio
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settings.mRatio = 4.0f;
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break;
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}
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mPhysicsSystem->AddConstraint(settings.Create(body1, body2));
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}
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}
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