95 lines
4.0 KiB
C++
95 lines
4.0 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/SpringTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Constraints/DistanceConstraint.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(SpringTest)
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{
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JPH_ADD_BASE_CLASS(SpringTest, Test)
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}
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void SpringTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Top fixed body
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RVec3 position(0, 75, 0);
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Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3(100.0f, 1.0f, 1.0f)), position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
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mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
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// Bodies attached with spring with different string lengths, same frequency and no damping
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for (int i = 0; i < 10; ++i)
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{
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// Create body
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RVec3 attachment_point = position + Vec3(-100.0f + i * 5.0f, 0, 0);
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RVec3 body_position = attachment_point - Vec3(0, 10.0f + i * 2.5f, 0);
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Body &body = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.75f)), body_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body.GetMotionProperties()->SetAngularDamping(0.0f);
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body.GetMotionProperties()->SetLinearDamping(0.0f);
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mBodyInterface->AddBody(body.GetID(), EActivation::Activate);
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// Attach spring
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DistanceConstraintSettings settings;
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settings.mPoint1 = attachment_point;
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settings.mPoint2 = body_position;
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settings.mLimitsSpringSettings.mFrequency = 0.33f;
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mPhysicsSystem->AddConstraint(settings.Create(top, body));
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// Move the body up so that it can start oscillating
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mBodyInterface->SetPositionAndRotation(body.GetID(), attachment_point - Vec3(0, 5, 0), Quat::sIdentity(), EActivation::DontActivate);
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}
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// Bodies attached with spring with different frequency and no damping
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for (int i = 0; i < 10; ++i)
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{
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// Create body
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RVec3 attachment_point = position + Vec3(-25.0f + i * 5.0f, 0, 0);
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RVec3 body_position = attachment_point - Vec3(0, 25.0f, 0);
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Body &body = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.75f)), body_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body.GetMotionProperties()->SetAngularDamping(0.0f);
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body.GetMotionProperties()->SetLinearDamping(0.0f);
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mBodyInterface->AddBody(body.GetID(), EActivation::Activate);
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// Attach spring
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DistanceConstraintSettings settings;
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settings.mPoint1 = attachment_point;
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settings.mPoint2 = body_position;
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settings.mLimitsSpringSettings.mFrequency = 0.1f + 0.1f * i;
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mPhysicsSystem->AddConstraint(settings.Create(top, body));
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// Move the body up so that it can start oscillating
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mBodyInterface->SetPositionAndRotation(body.GetID(), attachment_point - Vec3(0, 5, 0), Quat::sIdentity(), EActivation::DontActivate);
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}
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// Bodies attached with spring with same spring length, same frequency and different damping
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for (int i = 0; i < 10; ++i)
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{
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// Create body
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RVec3 attachment_point = position + Vec3(50.0f + i * 5.0f, 0, 0);
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RVec3 body_position = attachment_point - Vec3(0, 25.0f, 0);
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Body &body = *mBodyInterface->CreateBody(BodyCreationSettings(new BoxShape(Vec3::sReplicate(0.75f)), body_position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body.GetMotionProperties()->SetAngularDamping(0.0f);
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body.GetMotionProperties()->SetLinearDamping(0.0f);
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mBodyInterface->AddBody(body.GetID(), EActivation::Activate);
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// Attach spring
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DistanceConstraintSettings settings;
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settings.mPoint1 = attachment_point;
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settings.mPoint2 = body_position;
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settings.mLimitsSpringSettings.mFrequency = 0.33f;
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settings.mLimitsSpringSettings.mDamping = (1.0f / 9.0f) * i;
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mPhysicsSystem->AddConstraint(settings.Create(top, body));
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// Move the body up so that it can start oscillating
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mBodyInterface->SetPositionAndRotation(body.GetID(), attachment_point - Vec3(0, 5, 0), Quat::sIdentity(), EActivation::DontActivate);
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}
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}
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