Qt Quick 3D Physics - Impeller Example

// Copyright (C) 2022 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
import QtQuick
import QtQuick3D
import QtQuick3D.Physics

Window {
    width: 640
    height: 480
    visible: true
    title: qsTr("Qt Quick 3D Physics - Impeller")

    DynamicsWorld {
        gravity: Qt.vector3d(0, -490, 0)
    }

    View3D {
        anchors.fill: parent

        environment: SceneEnvironment {
            clearColor: "#d6dbdf"
            backgroundMode: SceneEnvironment.Color
        }

        PerspectiveCamera {
            position: Qt.vector3d(0, 200, 1000)
            clipFar: 2000
            clipNear: 1
        }

        DirectionalLight {
            eulerRotation.x: -45
            eulerRotation.y: 45
            castsShadow: true
            brightness: 1
            shadowFactor: 100
        }

        StaticRigidBody {
            position: Qt.vector3d(0, -100, 0)
            eulerRotation: Qt.vector3d(-90, 0, 0)
            collisionShapes: PlaneShape {}
            Model {
                source: "#Rectangle"
                scale: Qt.vector3d(500, 500, 0)
                materials: PrincipledMaterial {
                    baseColor: "green"
                }
                castsShadows: false
                receivesShadows: true
            }
        }

        DynamicRigidBody {
            id: sphere
            density: 0.00001
            position: Qt.vector3d(0, 600, 0)
            property bool inArea: false
            sendContactReports: true
            enableTriggerReports: true

            collisionShapes: SphereShape {}
            Model {
                source: "#Sphere"
                materials: PrincipledMaterial {
                    baseColor: sphere.inArea ? "yellow" : "red"
                }
            }
        }

        TriggerBody {
            position: Qt.vector3d(0, 350, 0)
            scale: Qt.vector3d(1, 2, 1)

            collisionShapes: BoxShape {
                id: boxShape
            }
            Model {
                source: "#Cube"
                materials: PrincipledMaterial {
                    baseColor: Qt.rgba(1, 0, 1, 0.2)
                    alphaMode: PrincipledMaterial.Blend
                }
            }

            onBodyEntered: (body) => {
                if (body.hasOwnProperty('inArea'))
                    body.inArea = true;
            }
            onBodyExited: (body) => {
                if (body.hasOwnProperty('inArea'))
                    body.inArea = false;
            }
        }

        StaticRigidBody {
            position: Qt.vector3d(0, 0, 0)
            scale: Qt.vector3d(2, 2, 2)
            receiveContactReports: true

            collisionShapes: SphereShape {}

            Model {
                source: "#Sphere"
                materials: PrincipledMaterial {
                    baseColor: "blue"
                }
            }

            onBodyContact: (body, positions, impulses, normals) => {
                for (var normal of normals) {
                    let force = normal.times(-2000);
                    body.applyCentralImpulse(force);
                }
            }
        }
    }
}