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marauder2k7 2026-05-17 17:34:15 +01:00
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Engine/lib/JoltPhysics/Samples/Tests/Constraints/DistanceConstraintTest.cpp Normal file
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// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
// SPDX-License-Identifier: MIT
#include <TestFramework.h>
#include <Tests/Constraints/DistanceConstraintTest.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/Physics/Constraints/DistanceConstraint.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(DistanceConstraintTest)
{
JPH_ADD_BASE_CLASS(DistanceConstraintTest, Test)
}
void DistanceConstraintTest::Initialize()
{
// Floor
CreateFloor();
float half_cylinder_height = 2.5f;
// Variation 0: Fixed distance
// Variation 1: Min/max distance
for (int variation = 0; variation < 2; ++variation)
{
// Bodies attached through distance constraints
Quat rotation = Quat::sRotation(Vec3::sAxisZ(), 0.5f * JPH_PI);
RVec3 position(0, 75, 10.0f * variation);
Body &top = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Static, Layers::NON_MOVING));
mBodyInterface->AddBody(top.GetID(), EActivation::DontActivate);
Body *prev = &top;
for (int i = 1; i < 15; ++i)
{
position += Vec3(5.0f + 2.0f * half_cylinder_height, 0, 0);
Body &segment = *mBodyInterface->CreateBody(BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType::Dynamic, Layers::MOVING));
mBodyInterface->AddBody(segment.GetID(), EActivation::Activate);
DistanceConstraintSettings settings;
settings.mPoint1 = position - Vec3(5.0f + half_cylinder_height, 0, 0);
settings.mPoint2 = position - Vec3(half_cylinder_height, 0, 0);
if (variation == 1)
{
// Default distance is 5, override min/max range
settings.mMinDistance = 4.0f;
settings.mMaxDistance = 8.0f;
}
mPhysicsSystem->AddConstraint(settings.Create(*prev, segment));
prev = &segment;
}
}
}