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godot/bin/tests/test_physics.cpp

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/*************************************************************************/
/* test_physics.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2015 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 {
OBJ_TYPE( 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() {
ObjectTypeDB::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);
RID sphere_material = vs->fixed_material_create();
//vs->material_set_flag( sphere_material, VisualServer::MATERIAL_FLAG_WIREFRAME, true );
vs->fixed_material_set_param( sphere_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.7,0.8,3.0) );
vs->mesh_surface_set_material( sphere_mesh, 0, sphere_material );
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 */
DVector<Plane> box_planes = Geometry::build_box_planes(Vector3(0.5,0.5,0.5));
RID box_material = vs->fixed_material_create();
vs->fixed_material_set_param( box_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1.0,0.2,0.2) );
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);
vs->mesh_surface_set_material( box_mesh, 0, box_material );
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 */
DVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,0.7,12,Vector3::AXIS_Z);
RID capsule_material = vs->fixed_material_create();
vs->fixed_material_set_param( capsule_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.3,0.4,1.0) );
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);
vs->mesh_surface_set_material( capsule_mesh, 0, capsule_material );
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 */
DVector<Plane> convex_planes = Geometry::build_cylinder_planes(0.5,0.7,5,Vector3::AXIS_Z);
RID convex_material = vs->fixed_material_create();
vs->fixed_material_set_param( convex_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(0.8,0.2,0.9));
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);
vs->mesh_surface_set_material( convex_mesh, 0, convex_material );
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(trimesh_mesh, VS::PRIMITIVE_TRIANGLES, d );
RID trimesh_mat = vs->fixed_material_create();
vs->fixed_material_set_param( trimesh_mat, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1.0,0.5,0.8));
//vs->material_set_flag( trimesh_mat, VisualServer::MATERIAL_FLAG_UNSHADED,true);
vs->mesh_surface_set_material( trimesh_mesh, 0, trimesh_mat );
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::JOYSTICK_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) {
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();
DVector<Plane> capsule_planes = Geometry::build_capsule_planes(0.5,1,12,5,Vector3::AXIS_Y);
RID capsule_material = vs->fixed_material_create();
vs->fixed_material_set_param( capsule_material, VisualServer::FIXED_MATERIAL_PARAM_DIFFUSE, Color(1,1,1) );
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);
vs->mesh_surface_set_material( capsule_mesh, 0, capsule_material );
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);
RID b = 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 );
}
}
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