Revision control
Copy as Markdown
// Copyright (C) 2026 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR GPL-3.0-only
import QtQuick
import QtTest
import QtQuick3D
import QtQuick3D.Physics
import QtQuick3D.Physics.TestUtils
Item {
width: 800
height: 600
visible: true
PhysicsWorld {
scene: viewport.scene
minimumTimestep: 15
maximumTimestep: 15
}
View3D {
id: viewport
width: parent.width
height: parent.height
focus: true
environment: SceneEnvironment {
antialiasingMode: SceneEnvironment.MSAA
backgroundMode: SceneEnvironment.Color
clearColor: "#f0f0f0"
}
PerspectiveCamera {
id: camera
position: Qt.vector3d(-400, 500, 1000)
eulerRotation: Qt.vector3d(-20, -20, 0)
clipFar: 5000
clipNear: 1
}
DirectionalLight {
eulerRotation: Qt.vector3d(-45, 45, 0)
}
DynamicRigidBody {
position: Qt.vector3d(-300, 400, 50)
collisionShapes: SphereShape {}
Model {
source: "#Sphere"
materials: PrincipledMaterial {
baseColor: "green"
}
}
}
FixedJoint {
id: jointLeft
bodyA: box4
bodyB: box
positionA: Qt.vector3d(100, 0, 0)
positionB: Qt.vector3d(-100, 0, 0)
}
SphericalJoint {
bodyA: box
bodyB: box1
coneLimitY: Math.PI / 2
coneLimitZ: Math.PI / 2
positionA: Qt.vector3d(100, 0, 0)
positionB: Qt.vector3d(-100, 0, 0)
NumberAnimation on coneLimitY {
from: Math.PI / 2
to: 0
loops: -1
duration: 4000
}
NumberAnimation on coneLimitZ {
from: Math.PI / 2
to: 0
loops: -1
duration: 4000
}
enableConeLimit: true
}
SphericalJoint {
bodyA: box1
bodyB: box2
coneLimitY: Math.PI / 2
coneLimitZ: Math.PI / 2
NumberAnimation on coneLimitY {
from: Math.PI / 2
to: 0
loops: -1
duration: 4000
}
NumberAnimation on coneLimitZ {
from: Math.PI / 2
to: 0
loops: -1
duration: 4000
}
enableConeLimit: true
positionA: Qt.vector3d(100, 0, 0)
positionB: Qt.vector3d(-100, 0, 0)
}
StaticRigidBody {
position: Qt.vector3d(0, -400, 0)
eulerRotation: Qt.vector3d(-90, 0, 0)
collisionShapes: PlaneShape {}
Model {
source: "#Rectangle"
scale: Qt.vector3d(10, 10, 1)
materials: PrincipledMaterial {
baseColor: "green"
}
castsShadows: false
receivesShadows: true
}
}
DynamicRigidBody {
id: box
position: Qt.vector3d(-100, 200, 0)
kinematicPosition: Qt.vector3d(-100, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {
id: boxShape
}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "yellow"
}
}
isKinematic: true
}
DynamicRigidBody {
id: box1
position: Qt.vector3d(100, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {
id: boxShape1
}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "blue"
}
}
}
DynamicRigidBody {
id: box2
position: Qt.vector3d(300, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {
id: boxShape2
}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "orange"
}
}
sendTriggerReports: true
}
DynamicRigidBody {
id: box4
position: Qt.vector3d(-200, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {
id: boxShape4
}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "pink"
}
}
}
Node {
id: root
position: Qt.vector3d(0, -340, 0)
DynamicRigidBody {
id: baseStand
position: Qt.vector3d(0, 0, 0)
collisionShapes: BoxShape {
extents: Qt.vector3d(50, 10, 50)
}
Model {
source: "#Cube"
scale: Qt.vector3d(0.50, 0.10, 0.50)
materials: PrincipledMaterial {
baseColor: "darkslategray"
}
}
}
DynamicRigidBody {
id: floatingSphere
// position: Qt.vector3d(50, 0, 0)
sendTriggerReports: true
collisionShapes: SphereShape {
diameter: 20
}
Model {
source: "#Sphere"
scale: Qt.vector3d(0.2, 0.2, 0.2)
materials: PrincipledMaterial {
baseColor: "cornflowerblue"
roughness: 0.2
}
}
}
// D6 Joint acting as a soft spring wire
D6Joint {
bodyA: baseStand
bodyB: floatingSphere
positionA: Qt.vector3d(0, 2.5, 0)
positionB: Qt.vector3d(0, -50, 0)
xMotion: D6Joint.Locked
yMotion: D6Joint.Locked
zMotion: D6Joint.Locked
// Allow omnidirectional rotation
twistMotion: D6Joint.Limited
swingMotionY: D6Joint.Limited
swingMotionZ: D6Joint.Limited
twistLimitLower: -0.07 // ~-4 degrees in radians
twistLimitUpper: 0.07 // ~+4 degrees in radians
swingLimitAngleY: 0.087 // ~5 degrees in radians
swingLimitAngleZ: 0.087 // ~5 degrees in radians
angularStiffness: 310000.0
angularDamping: 2500.0
}
}
TriggerBody {
id: trigger0
property int numHits: 0
position: Qt.vector3d(400, 200, 0)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "cyan"
opacity: 0.5
}
}
onBodyExited: {
numHits += 1
}
}
TriggerBody {
id: trigger1
property int numEntered: 0
position: Qt.vector3d(-300, 100, 0)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "cyan"
opacity: 0.5
}
}
onBodyEntered: {
numEntered += 1
}
}
TriggerBody {
id: trigger2
property int numHits: 0
position: Qt.vector3d(0, -330, 0)
scale: Qt.vector3d(0.2, 0.2, 0.2)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "cyan"
opacity: 0.5
}
}
onBodyExited: {
numHits += 1
}
}
}
FrameAnimation {
id: animator
running: true
property int frame: 0
onTriggered: {
frame += 1
}
}
PhysicsTestCase {
name: "scene"
goalReached: trigger0.numHits >= 2 && trigger1.numEntered == 0 && trigger2.numHits >= 3
}
}