51 lines
1.6 KiB
C++
51 lines
1.6 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/General/KinematicTest.h>
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#include <Jolt/Physics/Collision/Shape/BoxShape.h>
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#include <Jolt/Physics/Collision/Shape/SphereShape.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(KinematicTest)
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{
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JPH_ADD_BASE_CLASS(KinematicTest, Test)
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}
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void KinematicTest::Initialize()
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{
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// Floor
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CreateFloor();
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// Wall
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RefConst<Shape> box_shape = new BoxShape(Vec3(1.0f, 1.0f, 1.0f));
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for (int i = 0; i < 3; ++i)
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for (int j = i / 2; j < 10 - (i + 1) / 2; ++j)
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{
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RVec3 position(-10.0f + j * 2.0f + (i & 1? 1.0f : 0.0f), 1.0f + i * 2.0f, 0);
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mBodyInterface->CreateAndAddBody(BodyCreationSettings(box_shape, position, Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::DontActivate);
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}
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// Kinematic object
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for (int i = 0; i < 2; ++i)
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{
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mKinematic[i] = mBodyInterface->CreateBody(BodyCreationSettings(new SphereShape(1.0f), RVec3(-10.0f, 2.0f, i == 0? 5.0f : -5.0f), Quat::sIdentity(), EMotionType::Kinematic, Layers::MOVING));
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mBodyInterface->AddBody(mKinematic[i]->GetID(), EActivation::Activate);
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}
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}
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void KinematicTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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for (int i = 0; i < 2; ++i)
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{
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RVec3 com = mKinematic[i]->GetCenterOfMassPosition();
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if (com.GetZ() >= 5.0f)
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mKinematic[i]->SetLinearVelocity(Vec3(2.0f, 0, -10.0f));
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else if (com.GetZ() <= -5.0f)
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mKinematic[i]->SetLinearVelocity(Vec3(2.0f, 0, 10.0f));
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}
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}
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