app.samples: add the PulleyConstraintTest class

Author: stephengold

src/test/java/testjoltjni/app/samples/PulleyConstraintTest.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.*;
+import com.github.stephengold.joltjni.operator.Op;
+/**
+ * A line-for-line Java translation of the Jolt Physics pulley-constraint test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/Constraints/PulleyConstraintTest.cpp
+ */
+class PulleyConstraintTest extends Test{
+
+void Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// Variation 0: Max length (rope)
+	// Variation 1: Fixed length (rigid rod)
+	// Variation 2: Min/max length
+	// Variation 3: With ratio (block and tackle)
+	for (int variation = 0; variation < 4; ++variation)
+	{
+		RVec3 position1=new RVec3(-10, 10, -10.0f * variation);
+		Body body1 = mBodyInterface.createBody(new BodyCreationSettings(new BoxShape(Vec3.sReplicate(0.5f)), position1, Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING));
+		mBodyInterface.addBody(body1.getId(), EActivation.Activate);
+
+		RVec3 position2=new RVec3(10, 10, -10.0f * variation);
+		Body body2 = mBodyInterface.createBody(new BodyCreationSettings(new BoxShape(Vec3.sReplicate(0.5f)), position2, Quat.sIdentity(), EMotionType.Dynamic, Layers.MOVING));
+		mBodyInterface.addBody(body2.getId(), EActivation.Activate);
+
+		PulleyConstraintSettings settings=new PulleyConstraintSettings();
+		settings.setBodyPoint1 ( Op.add(position1 ,new Vec3(0, 0.5f, 0))); // Connect at the top of the block
+		settings.setBodyPoint2 ( Op.add(position2 ,new Vec3(0, 0.5f, 0)));
+		settings.setFixedPoint1 ( Op.add(settings.getBodyPoint1() ,new Vec3(0, 10, 0)));
+		settings.setFixedPoint2 ( Op.add(settings.getBodyPoint2() ,new Vec3(0, 10, 0)));
+
+		switch (variation)
+		{
+		case 0:
+			// Can't extend but can contract
+			break;
+
+		case 1:
+			// Fixed size
+			settings.setMinLength ( settings.setMaxLength ( -1));
+			break;
+
+		case 2:
+			// With range
+			settings.setMinLength ( 18.0f);
+			settings.setMaxLength ( 22.0f);
+			break;
+
+		case 3:
+			// With ratio
+			settings.setRatio ( 4.0f);
+			break;
+		}
+
+		mPhysicsSystem.addConstraint(settings.create(body1, body2));
+	}
+}
+}