samples.softbody: add the SoftBodyKinematicTest class

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

@@ -316,6 +316,7 @@ private static void smokeTestSoftBody() {
         smokeTest(new SoftBodyForceTest());
         smokeTest(new SoftBodyFrictionTest());
         smokeTest(new SoftBodyGravityFactorTest());
+        smokeTest(new SoftBodyKinematicTest());
         smokeTest(new SoftBodyLRAConstraintTest());
         smokeTest(new SoftBodyPressureTest());
         smokeTest(new SoftBodyUpdatePositionTest());

src/test/java/testjoltjni/app/samples/softbody/SoftBodyKinematicTest.java

@@ -0,0 +1,65 @@
+/*
+Copyright (c) 2025 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.softbody;
+import com.github.stephengold.joltjni.*;
+import com.github.stephengold.joltjni.enumerate.*;
+import testjoltjni.app.samples.*;
+/**
+ * A line-for-line Java translation of the Jolt Physics soft-body kinematic test.
+ * <p>
+ * Compare with the original by Jorrit Rouwe at
+ * https://github.com/jrouwe/JoltPhysics/blob/master/Samples/Tests/SoftBody/SoftBodyKinematicTest.cpp
+ */
+public class SoftBodyKinematicTest extends Test{
+BodyId mSphereID=new BodyId();
+
+public void Initialize()
+{
+	// Floor
+	CreateFloor();
+
+	// A sphere
+	SoftBodySharedSettingsRef sphere_settings = SoftBodyCreator.CreateSphere();
+	sphere_settings.getPtr().getVertex(0).setInvMass ( 0.0f);
+	sphere_settings.getPtr().getVertex(0).setVelocity (new Float3(0, 0, 5));
+	SoftBodyCreationSettings sphere=new SoftBodyCreationSettings(sphere_settings,new RVec3(0, 5, 0), Quat.sIdentity(), Layers.MOVING);
+	sphere.setPressure ( 2000.0f);
+	mSphereID = mBodyInterface.createAndAddSoftBody(sphere, EActivation.Activate);
+}
+
+public void PrePhysicsUpdate(PreUpdateParams inParams)
+{
+	// Update the velocity of the first vertex
+	BodyLockWrite body_lock=new BodyLockWrite(mPhysicsSystem.getBodyLockInterface(), mSphereID);
+	if (body_lock.succeeded())
+	{
+		Body body = body_lock.getBody();
+		SoftBodyMotionProperties mp = (SoftBodyMotionProperties )(body.getMotionProperties());
+		RVec3 com = body.getCenterOfMassPosition();
+		if (com.z() >= 10.0f)
+			mp.getVertex(0).setVelocity (new Vec3(0, 0, -5));
+		else if (com.z() <= -10.0f)
+			mp.getVertex(0).setVelocity (new Vec3(0, 0, 5));
+	}
+        body_lock.releaseLock();
+}
+}