Qt Quick 3D Physics - Mass Example

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

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

     PhysicsWorld {
         running: true
         gravity: Qt.vector3d(0, -9.81, 0)
         typicalLength: 1
         typicalSpeed: 10
         scene: viewport.scene
     }

     View3D {
         id: viewport
         anchors.fill: parent

         environment: SceneEnvironment {
             clearColor: "lightblue"
             backgroundMode: SceneEnvironment.Color
         }

         PerspectiveCamera {
             id: camera
             position: Qt.vector3d(0, 2, 5)
             eulerRotation: Qt.vector3d(-10, 0, 0)
             clipFar: 100
             clipNear: 0.01
         }

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

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

         RolyPoly {
             position: Qt.vector3d(-2, 0.5, 0)
             color: "blue"

             mass: 0.9
             centerOfMassPosition: Qt.vector3d(0, -0.5, 0)
             inertiaTensor: Qt.vector3d(0.217011, 0.0735887, 0.217011)
             massMode: DynamicRigidBody.MassAndInertiaTensor
         }

         RolyPoly {
             position: Qt.vector3d(0, 0.5, 0)
             color: "purple"

             mass: 0.9
             centerOfMassPosition: Qt.vector3d(0, -0.5, 0)
             inertiaTensor: Qt.vector3d(0.05, 100, 100)
             massMode: DynamicRigidBody.MassAndInertiaTensor
         }

         RolyPoly {
             position: Qt.vector3d(2, 0.5, 0)
             color: "red"

             mass: 0.9
             massMode: DynamicRigidBody.Mass
         }

         Node {
             id: shapeSpawner
             property var spheres: []
             property var sphereComponent: Qt.createComponent("Sphere.qml")

             function createBall(position, forward) {
                 let diameter = 0.2
                 let speed = 20
                 let sphere = sphereComponent.createObject(shapeSpawner, {
                                                               "position": position,
                                                               "sphereDiameter": diameter
                                                           })
                 sphere.setLinearVelocity(forward.times(speed))

                 var pair = {
                     "sphere": sphere,
                     "date": Date.now()
                 }

                 spheres.push(pair)

                 if (sphere === null) {
                     console.log("Error creating object")
                 }
             }

             function clean() {
                 spheres = spheres.filter(sphere => {
                     let diff = Date.now() - sphere['date'];
                     if (diff > 5000) {
                         sphere['sphere'].destroy();
                         return false;
                     }
                     return true;
                 });
             }

             Timer {
                 interval: 200
                 running: true
                 repeat: true
                 onTriggered: shapeSpawner.clean()
             }
         }

     }

     WasdController {
         speed: 0.01
         controlledObject: camera
         Keys.onPressed: (event) => {
             handleKeyPress(event);
             if (event.key === Qt.Key_Space) {
                 shapeSpawner.createBall(camera.position, camera.forward);
             }
         }
         Keys.onReleased: (event) => { handleKeyRelease(event) }
     }
 }