app.samples: add the PointConstraintTest class

src/test/java/testjoltjni/app/samples/PointConstraintTest.java

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+/*
+Copyright (c) 2024 Stephen Gold
+
+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.
+ */
+package testjoltjni.app.samples;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+
+/**
+ * A line-for-line Java translation of the Jolt Physics point constraint test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Constraints/PointConstraintTest.cpp
+ */
+class PointConstraintTest extends Test {
+void Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	float half_cylinder_height = 2.5f;
+
+	final int cChainLength = 15;
+
+	// Build a collision group filter that disables collision between adjacent bodies
+	GroupFilterTableRef group_filter = new GroupFilterTable(cChainLength).toRef();
+	for (int i = 0; i < cChainLength - 1; ++i)
+		group_filter.disableCollision(i, i + 1);
+
+	// Bodies attached through point constraints
+	Quat rotation = Quat.sRotation(Vec3.sAxisZ(), 0.5f * Jolt.JPH_PI);
+	RVec3 position=new RVec3(0, 50, 0);
+	Body top = mBodyInterface.createBody(new BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType.Static, Layers.NON_MOVING));
+	top.setCollisionGroup(new CollisionGroup(group_filter.getPtr(), 0, 0));
+	mBodyInterface.addBody(top.getId(), EActivation.DontActivate);
+
+	Body prev = top;
+	for (int i = 1; i < cChainLength; ++i)
+	{
+		RVec3.plusEquals(position , new Vec3(2.0f * half_cylinder_height, 0, 0));
+
+		Body segment = mBodyInterface.createBody(new BodyCreationSettings(new CapsuleShape(half_cylinder_height, 1), position, rotation, EMotionType.Dynamic, Layers.MOVING));
+		segment.setCollisionGroup(new CollisionGroup(group_filter.getPtr(), 0, i));
+		mBodyInterface.addBody(segment.getId(), EActivation.Activate);
+
+		PointConstraintSettings settings=new PointConstraintSettings();
+		settings.setPoint1 ( RVec3.add(position , new Vec3(-half_cylinder_height, 0, 0)));
+		settings.setPoint2 ( RVec3.add(position , new Vec3(-half_cylinder_height, 0, 0)));
+		mPhysicsSystem.addConstraint(settings.create(prev, segment));
+
+		prev = segment;
+	}
+}
+}