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// 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 {
id: world
scene: viewport.scene
minimumTimestep: 15
maximumTimestep: 15
}
Connections {
target: world
function onFrameDone(timeStep) {
boxA.kinematicEulerRotation.z = boxA.kinematicEulerRotation.z + 1
}
}
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)
}
PrismaticJoint {
id: joint
bodyA: boxA
bodyB: boxB
lowerLimit: -200
upperLimit: 0
positionA: Qt.vector3d(100, 0, 0)
positionB: Qt.vector3d(-100, 0, 0)
}
DynamicRigidBody {
id: boxA
position: Qt.vector3d(-100, 200, 0)
kinematicPosition: Qt.vector3d(-100, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "yellow"
}
}
isKinematic: true
}
DynamicRigidBody {
id: boxB
position: Qt.vector3d(100, 200, 0)
scale: Qt.vector3d(2, 0.5, 0.5)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "blue"
}
}
sendTriggerReports: true
}
TriggerBody {
id: trigger
property bool hit: false
position: Qt.vector3d(0, -100, 0)
collisionShapes: BoxShape {}
Model {
source: "#Cube"
materials: PrincipledMaterial {
baseColor: "pink"
}
}
onBodyEntered: {
hit = true;
}
}
}
PhysicsTestCase {
name: "rotate"
goalReached: trigger.hit
}
}