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