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")

     PhysicsWorld {
         gravity: Qt.vector3d(0, -490, 0)
         scene: viewport.scene
     }

     View3D {
         id: viewport
         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: 50
         }

         StaticRigidBody {
             position: Qt.vector3d(0, -100, 0)
             eulerRotation: Qt.vector3d(-90, 0, 0)
             collisionShapes: PlaneShape {}
             Model {
                 source: "#Rectangle"
                 scale: Qt.vector3d(500, 500, 1)
                 materials: PrincipledMaterial {
                     baseColor: "green"
                 }
                 castsShadows: false
                 receivesShadows: true
             }
         }

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

             onEnteredTriggerBody: {
                 inArea = true
             }
             onExitedTriggerBody: {
                 inArea = false
             }

             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
                 }
             }
         }

         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 velocity = normal.times(-700)
                     body.setLinearVelocity(velocity)
                 }
             }
         }
     }
 }