64 lines
2.1 KiB
C++
64 lines
2.1 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/ConeConstraintTest.h>
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#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
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#include <Jolt/Physics/Collision/GroupFilterTable.h>
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#include <Jolt/Physics/Constraints/ConeConstraint.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(ConeConstraintTest)
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{
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JPH_ADD_BASE_CLASS(ConeConstraintTest, Test)
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}
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void ConeConstraintTest::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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const int cChainLength = 5;
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// Build a collision group filter that disables collision between adjacent bodies
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Ref<GroupFilterTable> group_filter = new GroupFilterTable(cChainLength);
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for (CollisionGroup::SubGroupID i = 0; i < cChainLength - 1; ++i)
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group_filter->DisableCollision(i, i + 1);
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// Bodies attached through cone constraints
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for (int j = 0; j < 2; ++j)
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{
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Body *prev = nullptr;
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Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI);
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RVec3 position(0, 20.0f, 10.0f * j);
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for (int i = 0; i < cChainLength; ++i)
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{
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position += Vec3(2.0f * half_cylinder_height, 0, 0);
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Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI * i) * rotation, i == 0? EMotionType::Static : EMotionType::Dynamic, i == 0? Layers::NON_MOVING : Layers::MOVING));
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segment.SetCollisionGroup(CollisionGroup(group_filter, CollisionGroup::GroupID(j), CollisionGroup::SubGroupID(i)));
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mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
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if (prev != nullptr)
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{
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ConeConstraintSettings settings;
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settings.mPoint1 = settings.mPoint2 = position + Vec3(-half_cylinder_height, 0, 0);
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settings.mTwistAxis1 = settings.mTwistAxis2 = Vec3(1, 0, 0);
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if (j == 0)
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settings.mHalfConeAngle = 0.0f;
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else
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settings.mHalfConeAngle = DegreesToRadians(20);
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mPhysicsSystem->AddConstraint(settings.Create(*prev, segment));
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}
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prev = &segment;
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}
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}
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}
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