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+/*************************************************************************/
+/* test_physics.cpp */
+/*************************************************************************/
+/* This file is part of: */
+/* GODOT ENGINE */
+/* http://www.godotengine.org */
+/*************************************************************************/
+/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
+/* */
+/* Permission is hereby granted, free of charge, to any person obtaining */
+/* a copy of this software and associated documentation files (the */
+/* "Software"), to deal in the Software without restriction, including */
+/* without limitation the rights to use, copy, modify, merge, publish, */
+/* distribute, sublicense, and/or sell copies of the Software, and to */
+/* permit persons to whom the Software is furnished to do so, subject to */
+/* the following conditions: */
+/* */
+/* The above copyright notice and this permission notice shall be */
+/* included in all copies or substantial portions of the Software. */
+/* */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
+/*************************************************************************/
+#include "test_physics.h"
+
+
+#include "servers/visual_server.h"
+#include "servers/physics_server.h"
+#include "os/main_loop.h"
+#include "math_funcs.h"
+#include "print_string.h"
+#include "map.h"
+#include "os/os.h"
+#include "quick_hull.h"
+
+class TestPhysicsMainLoop : public MainLoop {
+
+ GDCLASS( TestPhysicsMainLoop, MainLoop );
+
+ enum {
+ LINK_COUNT = 20,
+ };
+
+ RID test_cube;
+
+ RID plane;
+ RID sphere;
+ RID light;
+ RID camera;
+ RID mover;
+ RID scenario;
+ RID space;
+
+ RID character;
+
+ float ofs_x,ofs_y;
+
+ Point2 joy_direction;
+
+ List<RID> bodies;
+ Map<PhysicsServer::ShapeType,RID> type_shape_map;
+ Map<PhysicsServer::ShapeType,RID> type_mesh_map;
+
+ void body_changed_transform(Object *p_state, RID p_visual_instance) {
+
+ PhysicsDirectBodyState *state = (PhysicsDirectBodyState*)p_state;
+ VisualServer *vs=VisualServer::get_singleton();
+ Transform t=state->get_transform();
+ //t.basis.scale( Vector3(1.0,0.5,0.2) );
+ vs->instance_set_transform(p_visual_instance,t);
+ }
+
+ bool quit;
+
+protected:
+
+ static void _bind_methods() {
+
+ ClassDB::bind_method("body_changed_transform",&TestPhysicsMainLoop::body_changed_transform);
+ }
+
+ RID create_body(PhysicsServer::ShapeType p_shape, PhysicsServer::BodyMode p_body,const Transform p_location,bool p_active_default=true,const Transform&p_shape_xform=Transform()) {
+
+ VisualServer *vs=VisualServer::get_singleton();
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+ RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape],scenario);
+ RID body = ps->body_create(p_body,!p_active_default);
+ ps->body_set_space(body,space);
+ ps->body_set_param(body,PhysicsServer::BODY_PARAM_BOUNCE,0.0);
+ //todo set space
+ ps->body_add_shape(body,type_shape_map[p_shape]);
+ ps->body_set_force_integration_callback(body,this,"body_changed_transform",mesh_instance);
+
+ ps->body_set_state( body, PhysicsServer::BODY_STATE_TRANSFORM,p_location);
+ bodies.push_back(body);
+
+ if (p_body==PhysicsServer::BODY_MODE_STATIC) {
+
+ vs->instance_set_transform(mesh_instance,p_location);
+ }
+ return body;
+ }
+
+ RID create_static_plane(const Plane& p_plane) {
+
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+ RID plane_shape = ps->shape_create(PhysicsServer::SHAPE_PLANE);;
+ ps->shape_set_data( plane_shape, p_plane );
+
+ RID b = ps->body_create( PhysicsServer::BODY_MODE_STATIC );
+ ps->body_set_space(b,space);
+ //todo set space
+ ps->body_add_shape(b, plane_shape);
+ return b;
+
+ }
+
+ void configure_body(RID p_body,float p_mass, float p_friction, float p_bounce) {
+
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+ ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_MASS, p_mass );
+ ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_FRICTION, p_friction );
+ ps->body_set_param( p_body, PhysicsServer::BODY_PARAM_BOUNCE, p_bounce );
+
+ }
+
+ void init_shapes() {
+
+ VisualServer *vs=VisualServer::get_singleton();
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+ /* SPHERE SHAPE */
+ RID sphere_mesh = vs->make_sphere_mesh(10,20,0.5);
+ type_mesh_map[PhysicsServer::SHAPE_SPHERE]=sphere_mesh;
+
+ RID sphere_shape=ps->shape_create(PhysicsServer::SHAPE_SPHERE);
+ ps->shape_set_data( sphere_shape, 0.5 );
+ type_shape_map[PhysicsServer::SHAPE_SPHERE]=sphere_shape;
+
+ /* BOX SHAPE */
+
+ PoolVector<Plane> box_planes = Geometry::build_box_planes(Vector3(0.5,0.5,0.5));
+ RID box_mesh = vs->mesh_create();
+ Geometry::MeshData box_data = Geometry::build_convex_mesh(box_planes);
+ vs->mesh_add_surface_from_mesh_data(box_mesh,box_data);
+ type_mesh_map[PhysicsServer::SHAPE_BOX]=box_mesh;
+
+ RID box_shape=ps->shape_create(PhysicsServer::SHAPE_BOX);
+ ps->shape_set_data( box_shape, Vector3(0.5,0.5,0.5) );
+ type_shape_map[PhysicsServer::SHAPE_BOX]=box_shape;
+
+
+ /* CAPSULE SHAPE */
+
+ PoolVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,0.7,12,Vector3::AXIS_Z);
+
+ RID capsule_mesh = vs->mesh_create();
+ Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
+ vs->mesh_add_surface_from_mesh_data(capsule_mesh,capsule_data);
+
+ type_mesh_map[PhysicsServer::SHAPE_CAPSULE]=capsule_mesh;
+
+ RID capsule_shape=ps->shape_create(PhysicsServer::SHAPE_CAPSULE);
+ Dictionary capsule_params;
+ capsule_params["radius"]=0.5;
+ capsule_params["height"]=1.4;
+ ps->shape_set_data( capsule_shape, capsule_params );
+ type_shape_map[PhysicsServer::SHAPE_CAPSULE]=capsule_shape;
+
+ /* CONVEX SHAPE */
+
+ PoolVector<Plane> convex_planes = Geometry::build_cylinder_planes(0.5,0.7,5,Vector3::AXIS_Z);
+
+ RID convex_mesh = vs->mesh_create();
+ Geometry::MeshData convex_data = Geometry::build_convex_mesh(convex_planes);
+ QuickHull::build(convex_data.vertices,convex_data);
+ vs->mesh_add_surface_from_mesh_data(convex_mesh,convex_data);
+
+ type_mesh_map[PhysicsServer::SHAPE_CONVEX_POLYGON]=convex_mesh;
+
+ RID convex_shape=ps->shape_create(PhysicsServer::SHAPE_CONVEX_POLYGON);
+ ps->shape_set_data( convex_shape, convex_data.vertices );
+ type_shape_map[PhysicsServer::SHAPE_CONVEX_POLYGON]=convex_shape;
+
+ }
+
+ void make_trimesh(Vector<Vector3> p_faces,const Transform& p_xform=Transform()) {
+
+ VisualServer *vs=VisualServer::get_singleton();
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+ RID trimesh_shape = ps->shape_create(PhysicsServer::SHAPE_CONCAVE_POLYGON);
+ ps->shape_set_data(trimesh_shape, p_faces);
+ p_faces=ps->shape_get_data(trimesh_shape); // optimized one
+ Vector<Vector3> normals; // for drawing
+ for (int i=0;i<p_faces.size()/3;i++) {
+
+ Plane p( p_faces[i*3+0],p_faces[i*3+1], p_faces[i*3+2] );
+ normals.push_back(p.normal);
+ normals.push_back(p.normal);
+ normals.push_back(p.normal);
+ }
+
+ RID trimesh_mesh = vs->mesh_create();
+ Array d;
+ d.resize(VS::ARRAY_MAX);
+ d[VS::ARRAY_VERTEX]=p_faces;
+ d[VS::ARRAY_NORMAL]=normals;
+ vs->mesh_add_surface_from_arrays(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, d );
+ //vs->material_set_flag( trimesh_mat, VisualServer::MATERIAL_FLAG_UNSHADED,true);
+
+
+ RID triins = vs->instance_create2(trimesh_mesh,scenario);
+
+
+ RID tribody = ps->body_create( PhysicsServer::BODY_MODE_STATIC);
+ ps->body_set_space(tribody,space);
+ //todo set space
+ ps->body_add_shape(tribody, trimesh_shape);
+ Transform tritrans = p_xform;
+ ps->body_set_state( tribody, PhysicsServer::BODY_STATE_TRANSFORM, tritrans );
+ vs->instance_set_transform( triins, tritrans );
+ //RID trimesh_material = vs->fixed_material_create();
+ //vs->material_generate( trimesh_material, Color(0.2,0.4,0.6) );
+ //vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_material );
+
+ }
+
+ void make_grid(int p_width,int p_height,float p_cellsize,float p_cellheight,const Transform& p_xform=Transform()) {
+
+ Vector< Vector< float > > grid;
+
+ grid.resize(p_width);
+
+ for (int i=0;i<p_width;i++) {
+
+ grid[i].resize(p_height);
+
+ for (int j=0;j<p_height;j++) {
+
+ grid[i][j]=1.0+Math::random(-p_cellheight, p_cellheight );
+ }
+ }
+
+ Vector<Vector3> faces;
+
+ for (int i=1;i<p_width;i++) {
+
+ for (int j=1;j<p_height;j++) {
+
+
+#define MAKE_VERTEX(m_x,m_z)\
+ faces.push_back( Vector3( (m_x-p_width/2)*p_cellsize, grid[m_x][m_z], (m_z-p_height/2)*p_cellsize ) )
+
+ MAKE_VERTEX(i,j-1);
+ MAKE_VERTEX(i,j);
+ MAKE_VERTEX(i-1,j);
+
+ MAKE_VERTEX(i-1,j-1);
+ MAKE_VERTEX(i,j-1);
+ MAKE_VERTEX(i-1,j);
+
+ }
+ }
+
+ make_trimesh(faces,p_xform);
+
+ }
+
+
+public:
+ virtual void input_event(const InputEvent& p_event) {
+
+ if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&4) {
+
+ ofs_y-=p_event.mouse_motion.relative_y/200.0;
+ ofs_x+=p_event.mouse_motion.relative_x/200.0;
+
+ }
+
+ if (p_event.type==InputEvent::MOUSE_MOTION && p_event.mouse_motion.button_mask&1) {
+
+ float y=-p_event.mouse_motion.relative_y/20.0;
+ float x=p_event.mouse_motion.relative_x/20.0;
+
+ if (mover.is_valid()) {
+
+
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+ Transform t = ps->body_get_state(mover,PhysicsServer::BODY_STATE_TRANSFORM);
+ t.origin+=Vector3(x,y,0);
+
+ ps->body_set_state(mover,PhysicsServer::BODY_STATE_TRANSFORM,t);
+ }
+
+ }
+
+ if (p_event.type == InputEvent::JOYPAD_MOTION) {
+
+ if (p_event.joy_motion.axis == 0) {
+
+ joy_direction.x = p_event.joy_motion.axis_value;
+ };
+
+ if (p_event.joy_motion.axis == 1) {
+
+ joy_direction.y = p_event.joy_motion.axis_value;
+ };
+ };
+ }
+
+ virtual void request_quit() {
+
+ quit=true;
+ }
+ virtual void init() {
+
+ ofs_x=ofs_y=0;
+ init_shapes();
+
+ PhysicsServer *ps = PhysicsServer::get_singleton();
+ space=ps->space_create();
+ ps->space_set_active(space,true);
+
+ VisualServer *vs=VisualServer::get_singleton();
+
+ /* LIGHT */
+ RID lightaux = vs->light_create( VisualServer::LIGHT_DIRECTIONAL );
+ //vs->light_set_color( lightaux, VisualServer::LIGHT_COLOR_AMBIENT, Color(0.0,0.0,0.0) );
+ scenario = vs->scenario_create();
+ vs->light_set_shadow(lightaux,true);
+ light = vs->instance_create2( lightaux,scenario );
+ Transform t;
+ t.rotate(Vector3(1.0,0,0),0.6);
+ vs->instance_set_transform(light,t);
+
+
+
+ /* CAMERA */
+
+ camera = vs->camera_create();
+ RID viewport = vs->viewport_create();
+ vs->viewport_attach_camera( viewport, camera );
+ vs->viewport_attach_to_screen(viewport);
+ vs->viewport_set_scenario( viewport, scenario );
+
+ vs->camera_set_perspective(camera,60,0.1,40.0);
+ vs->camera_set_transform(camera,Transform( Matrix3(), Vector3(0,9,12)));
+ //vs->scenario_set_debug(scenario,VS::SCENARIO_DEBUG_WIREFRAME);
+
+ Transform gxf;
+ gxf.basis.scale(Vector3(1.4,0.4,1.4));
+ gxf.origin=Vector3(-2,1,-2);
+ make_grid(5,5,2.5,1,gxf);
+ // create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,gxf);
+ //create_static_plane( Plane( Vector3(0,1,0), -2) );
+// test_joint();
+ test_fall();
+ //test_joint();
+
+
+/*
+ Vector<Vector3> faces;
+ faces.push_back( Vector3(10,0,-5) );
+ faces.push_back( Vector3(0,0,10) );
+ faces.push_back( Vector3(-10,-0.2,-5) );
+ make_trimesh(faces);
+*/
+ /* Make Trimesh */
+ quit=false;
+ return;
+
+#if 0
+#define GRID_SIZE 5
+
+ float grid[GRID_SIZE][GRID_SIZE];
+
+ for (int i=0;i<GRID_SIZE;i++) {
+
+ for (int j=0;j<GRID_SIZE;j++) {
+
+ grid[j][i]=Math::random(0.0, 1.0 );
+ }
+ }
+
+ Vector<Vector3> faces;
+
+ for (int i=1;i<GRID_SIZE;i++) {
+
+ for (int j=1;j<GRID_SIZE;j++) {
+
+
+#define MAKE_VERTEX(m_x,m_z)\
+ faces.push_back( Vector3( m_x-GRID_SIZE/2.0, grid[m_x][m_z], m_z-GRID_SIZE/2.0 )*3.0 )
+
+ MAKE_VERTEX(i,j-1);
+ MAKE_VERTEX(i,j);
+ MAKE_VERTEX(i-1,j);
+
+ MAKE_VERTEX(i-1,j-1);
+ MAKE_VERTEX(i,j-1);
+ MAKE_VERTEX(i-1,j);
+
+ }
+ }
+ /*
+ faces.clear();
+ faces.push_back( Vector3(0,0,-5) );
+ faces.push_back( Vector3(1,0,-1) );
+ faces.push_back( Vector3(-1,-0,-1) );
+ */
+
+ RID trimesh_shape = ps->shape_create();
+ ps->shape_set_data(trimesh_shape, PhysicsServer::SHAPE_CONCAVE_POLYGON,faces);
+ faces=ps->shape_get_shape(trimesh_shape, 0);
+ Vector<Vector3> normals; // for drawing
+ for (int i=0;i<faces.size()/3;i++) {
+
+ Plane p( faces[i*3+0],faces[i*3+1], faces[i*3+2] );
+ normals.push_back(p.normal);
+ normals.push_back(p.normal);
+ normals.push_back(p.normal);
+ }
+
+ RID trimesh_mesh = vs->mesh_create();
+ vs->mesh_add_surface(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, VS::ARRAY_FORMAT_VERTEX|VS::ARRAY_FORMAT_NORMAL, faces.size() );
+ vs->mesh_surface_set_array(trimesh_mesh,0,VS::ARRAY_VERTEX, faces );
+ vs->mesh_surface_set_array(trimesh_mesh,0,VS::ARRAY_NORMAL, normals );
+ RID trimesh_mat = vs->fixed_material_create();
+ vs->material_generate( trimesh_mat, Color(1.0,0.5,0.3) );
+ vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_mat );
+
+ RID triins = vs->instance_create2(trimesh_mesh);
+
+
+
+ RID tribody = ps->body_create( PhysicsServer::BODY_MODE_STATIC, trimesh_shape);
+ Transform tritrans = Transform( Matrix3(), Vector3(0,0,-2) );
+ ps->body_set_state( tribody, PhysicsServer::BODY_STATE_TRANSFORM, tritrans );
+ vs->instance_set_transform( triins, tritrans );
+ RID trimesh_material = vs->fixed_material_create();
+ vs->material_generate( trimesh_material, Color(0.2,0.4,0.6) );
+ vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_material );
+#endif
+ }
+ virtual bool iteration(float p_time) {
+
+ if (mover.is_valid()) {
+ static float joy_speed = 10;
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+ Transform t = ps->body_get_state(mover,PhysicsServer::BODY_STATE_TRANSFORM);
+ t.origin+=Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time,0);
+ ps->body_set_state(mover,PhysicsServer::BODY_STATE_TRANSFORM,t);
+ };
+
+
+ Transform cameratr;
+ cameratr.rotate(Vector3(0,1,0),ofs_x);
+ cameratr.rotate(Vector3(1,0,0),-ofs_y);
+ cameratr.translate(Vector3(0,2,8));
+ VisualServer *vs=VisualServer::get_singleton();
+ vs->camera_set_transform(camera,cameratr);
+
+ return quit;
+ }
+ virtual void finish() {
+
+ }
+
+ void test_joint() {
+#if 0
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+ mover = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,Transform(Matrix3(),Vector3(0,0,-24)));
+ RID b = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
+
+ ps->joint_create_double_pin(b,Vector3(0,0,1.0),mover,Vector3(0,0,0));
+ ps->body_add_collision_exception(mover,b);
+
+
+ List<String> cmdline = OS::get_singleton()->get_cmdline_args();
+ int link_count = LINK_COUNT;
+ if (cmdline.size() > 0 && cmdline[cmdline.size()-1].to_int()) {
+ link_count = cmdline[cmdline.size()-1].to_int();
+ };
+
+ for(int i=0;i<link_count;i++) {
+
+ RID c = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
+ ps->joint_create_double_pin(b,Vector3(0,0,-0.7),c,Vector3(0,0,0.7));
+ ps->body_add_collision_exception(c,b);
+ b=c;
+ }
+
+
+ create_static_plane(Plane(Vector3(0,1,0),-8));
+#endif
+ }
+
+ void test_hinge() {
+#if 0
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+
+ mover = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_STATIC,Transform(Matrix3(),Vector3(0,0,-24)));
+ RID b = create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_RIGID,Transform());
+
+ ps->joint_create_double_hinge(b,Transform(Matrix3(),Vector3(1,1,1.0)),mover,Transform(Matrix3(),Vector3(0,0,0)));
+ ps->body_add_collision_exception(mover,b);
+
+/*
+ for(int i=0;i<20;i++) {
+
+ RID c = create_body(PhysicsServer::SHAPE_CAPSULE,PhysicsServer::BODY_MODE_RIGID,Transform());
+ ps->joint_create_double_hinge(b,Transform(Matrix3(),Vector3(0,0,-0.7)),c,Transform(Matrix3(),Vector3(0,0,0.7)));
+ ps->body_add_collision_exception(c,b);
+ b=c;
+ }
+
+*/
+ //create_static_plane(Plane(Vector3(0,1,0),-8));
+#endif
+ }
+
+ void test_character() {
+
+ VisualServer *vs=VisualServer::get_singleton();
+ PhysicsServer * ps = PhysicsServer::get_singleton();
+
+
+ PoolVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,1,12,5,Vector3::AXIS_Y);
+
+ RID capsule_mesh = vs->mesh_create();
+ Geometry::MeshData capsule_data = Geometry::build_convex_mesh(capsule_planes);
+ vs->mesh_add_surface_from_mesh_data(capsule_mesh,capsule_data);
+ type_mesh_map[PhysicsServer::SHAPE_CAPSULE]=capsule_mesh;
+
+ RID capsule_shape=ps->shape_create(PhysicsServer::SHAPE_CAPSULE);
+ Dictionary capsule_params;
+ capsule_params["radius"]=0.5;
+ capsule_params["height"]=1;
+ Transform shape_xform;
+ shape_xform.rotate(Vector3(1,0,0),Math_PI/2.0);
+ //shape_xform.origin=Vector3(1,1,1);
+ ps->shape_set_data( capsule_shape, capsule_params);
+
+
+ RID mesh_instance = vs->instance_create2(capsule_mesh,scenario);
+ character = ps->body_create(PhysicsServer::BODY_MODE_CHARACTER);
+ ps->body_set_space(character,space);
+ //todo add space
+ ps->body_add_shape(character,capsule_shape);
+
+ ps->body_set_force_integration_callback(character,this,"body_changed_transform",mesh_instance);
+
+
+ ps->body_set_state( character, PhysicsServer::BODY_STATE_TRANSFORM,Transform(Matrix3(),Vector3(-2,5,-2)));
+ bodies.push_back(character);
+
+
+ }
+
+ void test_fall() {
+
+
+ for (int i=0;i<35;i++) {
+
+ static const PhysicsServer::ShapeType shape_idx[]={
+ PhysicsServer::SHAPE_CAPSULE,
+ PhysicsServer::SHAPE_BOX,
+ PhysicsServer::SHAPE_SPHERE,
+ PhysicsServer::SHAPE_CONVEX_POLYGON
+ };
+
+ PhysicsServer::ShapeType type=shape_idx[i%4];
+ //type=PhysicsServer::SHAPE_CONVEX_POLYGON;
+
+ Transform t;
+
+ t.origin=Vector3(0.0*i,3.5+1.1*i,0.7+0.0*i);
+ //t.origin=Vector3(-0.7+0.0*i,0.5+4.1*i,0);
+ t.basis.rotate(Vector3(0.2,-1,0),Math_PI/2*0.6);
+ //t.basis.rotate(Vector3(0,-1,0),Math_PI/4*i);
+ //t.basis.rotate(Vector3(0,-1,0),Math_PI/4*i);
+ //t.basis.rotate(Vector3(-1,0,0),Math_PI/4*i);
+
+
+ create_body(type,PhysicsServer::BODY_MODE_RIGID,t);
+ //RID b = create_body(type,i==0?PhysicsServer::BODY_MODE_STATIC:PhysicsServer::BODY_MODE_RIGID,t);
+
+ }
+
+ create_static_plane( Plane( Vector3(0,1,0), -1) );
+
+
+/*
+ create_static_plane( Plane( Vector3(1,0,0), -2) );
+ create_static_plane( Plane( Vector3(-1,0,0), -2) );
+ create_static_plane( Plane( Vector3(0,0,1), -2) );
+ create_static_plane( Plane( Vector3(0,0,-1), -2) );
+*/
+
+
+ }
+
+ void test_activate() {
+
+ create_body(PhysicsServer::SHAPE_BOX,PhysicsServer::BODY_MODE_RIGID,Transform(Matrix3(),Vector3(0,2,0)),true);
+ //create_body(PhysicsServer::SHAPE_SPHERE,PhysicsServer::BODY_MODE_RIGID,Transform(Matrix3(),Vector3(0,6,0)),true);
+ create_static_plane( Plane( Vector3(0,1,0), -1) );
+
+ }
+
+
+ virtual bool idle(float p_time) {
+ return false;
+ }
+
+
+
+
+
+
+
+ TestPhysicsMainLoop() {
+
+ }
+};
+
+namespace TestPhysics {
+
+MainLoop* test() {
+
+ return memnew( TestPhysicsMainLoop );
+
+}
+
+}
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-17 18:52:04 +0000