86 lines
3.6 KiB
C++
86 lines
3.6 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/Constraints/SwingTwistConstraintTest.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/Body/BodyCreationSettings.h>
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#include <Application/DebugUI.h>
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#include <Layers.h>
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JPH_IMPLEMENT_RTTI_VIRTUAL(SwingTwistConstraintTest)
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{
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JPH_ADD_BASE_CLASS(SwingTwistConstraintTest, Test)
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}
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void SwingTwistConstraintTest::Initialize()
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{
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// Floor
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CreateFloor();
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float half_cylinder_height = 1.5f;
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const int cChainLength = 10;
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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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Body *prev = nullptr;
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Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI);
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RVec3 position(0, 25, 0);
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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, 0.5f), 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, 0, CollisionGroup::SubGroupID(i)));
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mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
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if (i != 0)
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segment.SetAllowSleeping(false);
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if (prev != nullptr)
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{
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Ref<SwingTwistConstraintSettings> settings = new SwingTwistConstraintSettings;
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settings->mPosition1 = settings->mPosition2 = position + Vec3(-half_cylinder_height, 0, 0);
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settings->mTwistAxis1 = settings->mTwistAxis2 = Vec3::sAxisX();
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settings->mPlaneAxis1 = settings->mPlaneAxis2 = Vec3::sAxisY();
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settings->mNormalHalfConeAngle = sNormalHalfConeAngle;
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settings->mPlaneHalfConeAngle = sPlaneHalfConeAngle;
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settings->mTwistMinAngle = sTwistMinAngle;
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settings->mTwistMaxAngle = sTwistMaxAngle;
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Ref<SwingTwistConstraint> constraint = static_cast<SwingTwistConstraint *>(settings->Create(*prev, segment));
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mPhysicsSystem->AddConstraint(constraint);
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mConstraints.push_back(constraint);
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}
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prev = &segment;
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}
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}
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void SwingTwistConstraintTest::PrePhysicsUpdate(const PreUpdateParams &inParams)
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{
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for (SwingTwistConstraint *c : mConstraints)
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{
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c->SetNormalHalfConeAngle(sNormalHalfConeAngle);
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c->SetPlaneHalfConeAngle(sPlaneHalfConeAngle);
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c->SetTwistMinAngle(sTwistMinAngle);
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c->SetTwistMaxAngle(sTwistMaxAngle);
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}
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}
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void SwingTwistConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMenu)
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{
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inUI->CreateSlider(inSubMenu, "Min Twist Angle (deg)", RadiansToDegrees(sTwistMinAngle), -180.0f, 180.0f, 1.0f, [=](float inValue) { sTwistMinAngle = DegreesToRadians(inValue); });
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inUI->CreateSlider(inSubMenu, "Max Twist Angle (deg)", RadiansToDegrees(sTwistMaxAngle), -180.0f, 180.0f, 1.0f, [=](float inValue) { sTwistMaxAngle = DegreesToRadians(inValue); });
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inUI->CreateSlider(inSubMenu, "Normal Half Cone Angle (deg)", RadiansToDegrees(sNormalHalfConeAngle), 0.0f, 180.0f, 1.0f, [=](float inValue) { sNormalHalfConeAngle = DegreesToRadians(inValue); });
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inUI->CreateSlider(inSubMenu, "Plane Half Cone Angle (deg)", RadiansToDegrees(sPlaneHalfConeAngle), 0.0f, 180.0f, 1.0f, [=](float inValue) { sPlaneHalfConeAngle = DegreesToRadians(inValue); });
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inUI->ShowMenu(inSubMenu);
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}
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