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marauder2k7 2026-05-17 17:34:15 +01:00
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Engine/lib/JoltPhysics/Samples/Tests/General/CenterOfMassTest.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/General/CenterOfMassTest.h>
#include <Jolt/Physics/Collision/Shape/StaticCompoundShape.h>
#include <Jolt/Physics/Collision/Shape/SphereShape.h>
#include <Jolt/Physics/Collision/Shape/CapsuleShape.h>
#include <Jolt/Physics/Collision/Shape/ConvexHullShape.h>
#include <Jolt/Physics/Body/BodyCreationSettings.h>
#include <Layers.h>
JPH_IMPLEMENT_RTTI_VIRTUAL(CenterOfMassTest)
{
JPH_ADD_BASE_CLASS(CenterOfMassTest, Test)
}
void CenterOfMassTest::Initialize()
{
// Floor
CreateFloor();
// Compound shape with center of mass offset
Ref<StaticCompoundShapeSettings> compound_shape1 = new StaticCompoundShapeSettings;
compound_shape1->AddShape(Vec3(10, 0, 0), Quat::sIdentity(), new SphereShape(2));
mBodyInterface->CreateAndAddBody(BodyCreationSettings(compound_shape1, RVec3(0, 10.0f, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
// Create box with center of mass offset
Array<Vec3> box;
box.push_back(Vec3(10, 10, 10));
box.push_back(Vec3(5, 10, 10));
box.push_back(Vec3(10, 5, 10));
box.push_back(Vec3(5, 5, 10));
box.push_back(Vec3(10, 10, 5));
box.push_back(Vec3(5, 10, 5));
box.push_back(Vec3(10, 5, 5));
box.push_back(Vec3(5, 5, 5));
mBodyInterface->CreateAndAddBody(BodyCreationSettings(new ConvexHullShapeSettings(box), RVec3(0, 10.0f, 20.0f), Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
// Compound
Ref<StaticCompoundShapeSettings> compound_shape2 = new StaticCompoundShapeSettings;
Quat rotation = Quat::sRotation(Vec3::sAxisX(), 0.25f * JPH_PI);
compound_shape2->AddShape(Vec3(10, 0, 0), rotation, new CapsuleShape(5, 1));
compound_shape2->AddShape(rotation * Vec3(10, -5, 0), Quat::sIdentity(), new SphereShape(4));
compound_shape2->AddShape(rotation * Vec3(10, 5, 0), Quat::sIdentity(), new SphereShape(2));
mBodyInterface->CreateAndAddBody(BodyCreationSettings(compound_shape2, RVec3(0, 10.0f, 40.0f), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING), EActivation::Activate);
}