初始化内容

third/JoltPhysics/Samples/Tests/SoftBody/SoftBodySensorTest.cpp

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+// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
+// SPDX-FileCopyrightText: 2024 Jorrit Rouwe
+// SPDX-License-Identifier: MIT
+
+#include <TestFramework.h>
+
+#include <Tests/SoftBody/SoftBodySensorTest.h>
+#include <Jolt/Physics/Body/BodyCreationSettings.h>
+#include <Jolt/Physics/SoftBody/SoftBodyCreationSettings.h>
+#include <Jolt/Physics/Collision/Shape/SphereShape.h>
+#include <Jolt/Physics/Collision/Shape/TaperedCylinderShape.h>
+#include <Jolt/Physics/SoftBody/SoftBodyManifold.h>
+#include <Utils/SoftBodyCreator.h>
+#include <Renderer/DebugRendererImp.h>
+#include <Layers.h>
+
+JPH_IMPLEMENT_RTTI_VIRTUAL(SoftBodySensorTest)
+{
+	JPH_ADD_BASE_CLASS(SoftBodySensorTest, Test)
+}
+
+void SoftBodySensorTest::Initialize()
+{
+	// Install contact listener for soft bodies
+	mPhysicsSystem->SetSoftBodyContactListener(this);
+
+	// Floor
+	CreateFloor();
+
+	// Create cloth that's fixated at the corners
+	SoftBodyCreationSettings cloth(SoftBodyCreator::CreateClothWithFixatedCorners(), RVec3(0, 10.0f, 0), Quat::sIdentity(), Layers::MOVING);
+	mBodyInterface->CreateAndAddSoftBody(cloth, EActivation::Activate);
+
+	// Some sensors to detect the cloth
+	BodyCreationSettings cylinder_sensor(new TaperedCylinderShapeSettings(4.0f, 1.0f, 2.0f), RVec3(0, 6, 0), Quat::sRotation(Vec3::sAxisX(), 0.5f * JPH_PI), EMotionType::Static, Layers::SENSOR);
+	cylinder_sensor.mIsSensor = true;
+	mBodyInterface->CreateAndAddBody(cylinder_sensor, EActivation::DontActivate);
+
+	BodyCreationSettings sphere_sensor(new SphereShape(4.0f), RVec3(4, 5, 0), Quat::sIdentity(), EMotionType::Static, Layers::SENSOR);
+	sphere_sensor.mIsSensor = true;
+	mBodyInterface->CreateAndAddBody(sphere_sensor, EActivation::DontActivate);
+
+	// Sphere that falls on the cloth to check that we don't ignore this collision
+	BodyCreationSettings bcs(new SphereShape(1.0f), RVec3(0, 15, 0), Quat::sIdentity(), EMotionType::Dynamic, Layers::MOVING);
+	bcs.mOverrideMassProperties = EOverrideMassProperties::CalculateInertia;
+	bcs.mMassPropertiesOverride.mMass = 500.0f;
+	mBodyInterface->CreateAndAddBody(bcs, EActivation::Activate);
+}
+
+void SoftBodySensorTest::OnSoftBodyContactAdded(const Body &inSoftBody, const SoftBodyManifold &inManifold)
+{
+	// Draw the vertices that are in contact
+	RMat44 com = inSoftBody.GetCenterOfMassTransform();
+	for (const SoftBodyVertex &v : inManifold.GetVertices())
+		if (inManifold.HasContact(v))
+			DebugRenderer::sInstance->DrawMarker(com * v.mPosition, Color::sGreen, 0.1f);
+
+	// Draw the sensors that are in contact with the soft body
+	for (uint i = 0; i < inManifold.GetNumSensorContacts(); ++i)
+	{
+		BodyID sensor_id = inManifold.GetSensorContactBodyID(i);
+		BodyLockRead lock(mPhysicsSystem->GetBodyLockInterfaceNoLock(), sensor_id); // Can't lock in a callback
+		if (lock.SucceededAndIsInBroadPhase())
+		{
+			AABox bounds = lock.GetBody().GetWorldSpaceBounds();
+			DebugRenderer::sInstance->DrawWireBox(bounds, Color::sGreen);
+		}
+	}
+}