105 lines
3.5 KiB
C++
105 lines
3.5 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/ConstraintSingularityTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include <Jolt/Physics/Constraints/HingeConstraint.h>
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#include <Jolt/Physics/Constraints/FixedConstraint.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(ConstraintSingularityTest)
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{
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JPH_ADD_BASE_CLASS(ConstraintSingularityTest, Test)
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}
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void ConstraintSingularityTest::Initialize()
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{
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// Floor
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CreateFloor();
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float box_size = 4.0f;
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RefConst<Shape> box = new BoxShape(Vec3::sReplicate(0.5f * box_size));
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const int num_constraint_types = 2;
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const int num_configurations = 4;
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// Create group filter
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Ref<GroupFilterTable> group_filter = new GroupFilterTable;
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CollisionGroup::GroupID group_id = 0;
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for (int constraint_type = 0; constraint_type < num_constraint_types; ++constraint_type)
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for (int configuration = 0; configuration < num_configurations; ++configuration)
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{
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RVec3 test_position(10.0f * constraint_type, 10.0f + 10.0f * configuration, 0);
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Body &body1 = *mBodyInterface->CreateBody(BodyCreationSettings(box, test_position, Quat::sIdentity(), EMotionType::Static, Layers::NON_MOVING));
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body1.SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
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mBodyInterface->AddBody(body1.GetID(), EActivation::DontActivate);
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Body &body2 = *mBodyInterface->CreateBody(BodyCreationSettings(box, test_position + Vec3(box_size, 0, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING));
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body2.SetCollisionGroup(CollisionGroup(group_filter, group_id, 0));
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mBodyInterface->AddBody(body2.GetID(), EActivation::Activate);
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Constraint *constraint;
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switch (constraint_type)
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{
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case 0:
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{
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HingeConstraintSettings settings;
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settings.mPoint1 = settings.mPoint2 = test_position + Vec3(0.5f * box_size, 0, 0.5f * box_size);
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settings.mHingeAxis1 = settings.mHingeAxis2 = Vec3::sAxisY();
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settings.mNormalAxis1 = settings.mNormalAxis2 = Vec3::sAxisX();
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settings.mLimitsMin = -0.01f;
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settings.mLimitsMax = 0.01f;
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constraint = settings.Create(body1, body2);
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break;
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}
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default:
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{
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FixedConstraintSettings settings;
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settings.mAutoDetectPoint = true;
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constraint = settings.Create(body1, body2);
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break;
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}
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}
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mPhysicsSystem->AddConstraint(constraint);
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RVec3 position;
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Quat orientation;
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switch (configuration)
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{
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case 0:
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position = test_position + Vec3(0, 0, box_size);
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orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(180.0f));
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break;
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case 1:
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position = test_position + Vec3(0, 0, box_size);
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orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(-90.0f)) * Quat::sRotation(Vec3::sAxisX(), DegreesToRadians(180.0f));
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break;
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case 2:
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position = test_position + Vec3(box_size, 0, 0);
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orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(90.0f)) * Quat::sRotation(Vec3::sAxisZ(), DegreesToRadians(90.0f));
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break;
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default:
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JPH_ASSERT(configuration == 3);
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position = test_position + Vec3(-box_size, 0, 0);
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orientation = Quat::sRotation(Vec3::sAxisY(), DegreesToRadians(90.0f)) * Quat::sRotation(Vec3::sAxisZ(), DegreesToRadians(90.0f));
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break;
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}
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mBodyInterface->SetPositionAndRotation(body2.GetID(), position, orientation, EActivation::DontActivate);
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++group_id;
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}
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}
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