113 lines
3.4 KiB
C++
113 lines
3.4 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
// SPDX-FileCopyrightText: 2023 Jorrit Rouwe
|
|
// SPDX-License-Identifier: MIT
|
|
|
|
#include <TestFramework.h>
|
|
|
|
#include <Tests/General/ModifyMassTest.h>
|
|
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
|
|
#include <Jolt/Physics/Body/BodyCreationSettings.h>
|
|
#include <Renderer/DebugRendererImp.h>
|
|
#include <Layers.h>
|
|
|
|
JPH_IMPLEMENT_RTTI_VIRTUAL(ModifyMassTest)
|
|
{
|
|
JPH_ADD_BASE_CLASS(ModifyMassTest, Test)
|
|
}
|
|
|
|
void ModifyMassTest::ResetBodies(int inCycle)
|
|
{
|
|
mBodyInterface->SetPositionAndRotation(mBodies[0], RVec3(-5, 5, 0), Quat::sIdentity(), EActivation::Activate);
|
|
mBodyInterface->SetLinearAndAngularVelocity(mBodies[0], Vec3(10, 0, 0), Vec3::sZero());
|
|
mBodyInterface->SetUserData(mBodies[0], inCycle << 1);
|
|
|
|
mBodyInterface->SetPositionAndRotation(mBodies[1], RVec3(5, 5, 0), Quat::sIdentity(), EActivation::Activate);
|
|
mBodyInterface->SetLinearAndAngularVelocity(mBodies[1], Vec3(-10, 0, 0), Vec3::sZero());
|
|
mBodyInterface->SetUserData(mBodies[1], (inCycle << 1) + 1);
|
|
}
|
|
|
|
void ModifyMassTest::UpdateLabels()
|
|
{
|
|
for (BodyID id : mBodies)
|
|
{
|
|
BodyLockRead body_lock(mPhysicsSystem->GetBodyLockInterface(), id);
|
|
if (body_lock.Succeeded())
|
|
{
|
|
const Body &body = body_lock.GetBody();
|
|
SetBodyLabel(id, StringFormat("Inv mass scale: %.1f\nVelocity X: %.1f", (double)sGetInvMassScale(body), (double)body.GetLinearVelocity().GetX()));
|
|
}
|
|
}
|
|
}
|
|
|
|
void ModifyMassTest::Initialize()
|
|
{
|
|
// Floor
|
|
CreateFloor();
|
|
|
|
// Create two spheres on a collision course
|
|
BodyCreationSettings bcs(new SphereShape(1.0f), RVec3::sZero(), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
|
|
bcs.mRestitution = 1.0f;
|
|
mBodies[0] = mBodyInterface->CreateAndAddBody(bcs, EActivation::Activate);
|
|
mBodies[1] = mBodyInterface->CreateAndAddBody(bcs, EActivation::Activate);
|
|
ResetBodies(0);
|
|
UpdateLabels();
|
|
}
|
|
|
|
void ModifyMassTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
|
|
{
|
|
constexpr float cTimeBetweenTests = 2.0f;
|
|
|
|
int old_cycle = (int)(mTime / cTimeBetweenTests);
|
|
mTime += inParams.mDeltaTime;
|
|
int new_cycle = (int)(mTime / cTimeBetweenTests);
|
|
if (old_cycle != new_cycle)
|
|
ResetBodies(new_cycle);
|
|
|
|
UpdateLabels();
|
|
}
|
|
|
|
float ModifyMassTest::sGetInvMassScale(const Body &inBody)
|
|
{
|
|
uint64 ud = inBody.GetUserData();
|
|
int index = ((ud & 1) != 0? (ud >> 1) : (ud >> 3)) & 0b11;
|
|
float mass_overrides[] = { 1.0f, 0.0f, 0.5f, 2.0f };
|
|
return mass_overrides[index];
|
|
}
|
|
|
|
void ModifyMassTest::OnContactAdded(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings)
|
|
{
|
|
// We're only concerned with dynamic bodies (floor gets normal collision response)
|
|
if (!inBody1.IsDynamic() || !inBody2.IsDynamic())
|
|
return;
|
|
|
|
// Override the mass of body 1
|
|
float scale1 = sGetInvMassScale(inBody1);
|
|
ioSettings.mInvMassScale1 = scale1;
|
|
ioSettings.mInvInertiaScale1 = scale1;
|
|
|
|
// Override the mass of body 2
|
|
float scale2 = sGetInvMassScale(inBody2);
|
|
ioSettings.mInvMassScale2 = scale2;
|
|
ioSettings.mInvInertiaScale2 = scale2;
|
|
}
|
|
|
|
void ModifyMassTest::OnContactPersisted(const Body &inBody1, const Body &inBody2, const ContactManifold &inManifold, ContactSettings &ioSettings)
|
|
{
|
|
OnContactAdded(inBody1, inBody2, inManifold, ioSettings);
|
|
}
|
|
|
|
void ModifyMassTest::SaveState(StateRecorder &inStream) const
|
|
{
|
|
Test::SaveState(inStream);
|
|
|
|
inStream.Write(mTime);
|
|
}
|
|
|
|
void ModifyMassTest::RestoreState(StateRecorder &inStream)
|
|
{
|
|
Test::RestoreState(inStream);
|
|
|
|
inStream.Read(mTime);
|
|
}
|
|
|