60 lines
1.9 KiB
C++
60 lines
1.9 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/DistanceConstraintTest.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.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(DistanceConstraintTest)
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{
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JPH_ADD_BASE_CLASS(DistanceConstraintTest, Test)
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}
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void DistanceConstraintTest::Initialize()
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{
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// Floor
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CreateFloor();
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float half_cylinder_height = 2.5f;
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// Variation 0: Fixed distance
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// Variation 1: Min/max distance
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for (int variation = 0; variation < 2; ++variation)
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{
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// Bodies attached through distance constraints
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Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI);
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RVec3 position(0, 75, 10.0f * variation);
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Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Static, Layers::NON_MOVING));
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mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
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Body *prev = ⊤
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for (int i = 1; i < 15; ++i)
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{
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position += Vec3(5.0f + 2.0f * half_cylinder_height, 0, 0);
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Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Dynamic, Layers::MOVING));
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mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
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DistanceConstraintSettings settings;
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settings.mPoint1 = position - Vec3(5.0f + half_cylinder_height, 0, 0);
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settings.mPoint2 = position - Vec3(half_cylinder_height, 0, 0);
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if (variation == 1)
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{
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// Default distance is 5, override min/max range
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settings.mMinDistance = 4.0f;
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settings.mMaxDistance = 8.0f;
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}
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mPhysicsSystem->AddConstraint(settings.Create(*prev, segment));
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prev = &segment;
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}
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}
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}
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