2016-01-28 22:06:17 +00:00
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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2016-04-11 18:15:20 +00:00
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* Copyright (c) 2010-2016 Daniel Chappuis *
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2016-01-28 22:06:17 +00:00
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "HeightFieldScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace heightfieldscene;
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// Constructor
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HeightFieldScene::HeightFieldScene(const std::string& name) : SceneDemo(name, SCENE_RADIUS) {
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// Compute the radius and the center of the scene
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openglframework::Vector3 center(0, 5, 0);
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// Set the center of the scene
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setScenePosition(center, SCENE_RADIUS);
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// Gravity vector in the dynamics world
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rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
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// Create the dynamics world for the physics simulation
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mDynamicsWorld = new rp3d::DynamicsWorld(gravity);
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// Set the number of iterations of the constraint solver
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mDynamicsWorld->setNbIterationsVelocitySolver(15);
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2016-02-14 18:36:56 +00:00
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// ---------- Create the boxes ----------- //
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2016-02-14 18:36:56 +00:00
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// For each box
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for (int i=0; i<NB_BOXES; i++) {
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// Position
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openglframework::Vector3 position(15, 10 + 6 * i, 0);
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2016-01-28 22:06:17 +00:00
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2016-04-07 06:39:17 +00:00
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// Create a box and a corresponding rigid in the dynamics world
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mBoxes[i] = new Box(Vector3(3, 3, 3), position, 80.1, mDynamicsWorld);
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// Set the box color
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mBoxes[i]->setColor(mDemoColors[2]);
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mBoxes[i]->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& boxMaterial = mBoxes[i]->getRigidBody()->getMaterial();
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boxMaterial.setBounciness(rp3d::decimal(0.2));
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}
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// ---------- Create the height field ---------- //
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// Position
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openglframework::Vector3 position(0, 0, 0);
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rp3d::decimal mass = 1.0;
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// Create a convex mesh and a corresponding rigid in the dynamics world
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mHeightField = new HeightField(position, mass, mDynamicsWorld);
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// Set the mesh as beeing static
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mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC);
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// Set the color
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mHeightField->setColor(mGreyColorDemo);
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mHeightField->setSleepingColor(mGreyColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mHeightField->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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material.setFrictionCoefficient(0.1);
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// Get the physics engine parameters
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mEngineSettings.isGravityEnabled = mDynamicsWorld->isGravityEnabled();
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rp3d::Vector3 gravityVector = mDynamicsWorld->getGravity();
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mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
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mEngineSettings.isSleepingEnabled = mDynamicsWorld->isSleepingEnabled();
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mEngineSettings.sleepLinearVelocity = mDynamicsWorld->getSleepLinearVelocity();
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mEngineSettings.sleepAngularVelocity = mDynamicsWorld->getSleepAngularVelocity();
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mEngineSettings.nbPositionSolverIterations = mDynamicsWorld->getNbIterationsPositionSolver();
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mEngineSettings.nbVelocitySolverIterations = mDynamicsWorld->getNbIterationsVelocitySolver();
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mEngineSettings.timeBeforeSleep = mDynamicsWorld->getTimeBeforeSleep();
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}
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// Destructor
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HeightFieldScene::~HeightFieldScene() {
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// Destroy the corresponding rigid body from the dynamics world
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for (int i=0; i<NB_BOXES; i++) {
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mDynamicsWorld->destroyRigidBody(mBoxes[i]->getRigidBody());
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}
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mDynamicsWorld->destroyRigidBody(mHeightField->getRigidBody());
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for (int i=0; i<NB_BOXES; i++) {
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delete mBoxes[i];
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}
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// Destroy the convex mesh
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delete mHeightField;
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// Destroy the dynamics world
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delete mDynamicsWorld;
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}
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// Update the physics world (take a simulation step)
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void HeightFieldScene::updatePhysics() {
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// Update the physics engine parameters
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mDynamicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
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rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
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mEngineSettings.gravity.z);
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mDynamicsWorld->setGravity(gravity);
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mDynamicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled);
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mDynamicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
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mDynamicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
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mDynamicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
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mDynamicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
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mDynamicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
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// Take a simulation step
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mDynamicsWorld->update(mEngineSettings.timeStep);
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}
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// Update the scene
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void HeightFieldScene::update() {
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SceneDemo::update();
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// Update the transform used for the rendering
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mHeightField->updateTransform(mInterpolationFactor);
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for (int i=0; i<NB_BOXES; i++) {
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mBoxes[i]->updateTransform(mInterpolationFactor);
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}
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}
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// Render the scene in a single pass
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void HeightFieldScene::renderSinglePass(Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the shader
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shader.bind();
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mHeightField->render(shader, worldToCameraMatrix);
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for (int i=0; i<NB_BOXES; i++) {
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mBoxes[i]->render(shader, worldToCameraMatrix);
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}
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// Unbind the shader
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shader.unbind();
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}
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// Reset the scene
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void HeightFieldScene::reset() {
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// Reset the transform
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rp3d::Transform transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
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mHeightField->resetTransform(transform);
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2016-02-14 18:36:56 +00:00
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float heightFieldWidth = 10.0f;
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float stepDist = heightFieldWidth / (NB_BOXES + 1);
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for (int i=0; i<NB_BOXES; i++) {
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rp3d::Vector3 boxPosition(-heightFieldWidth * 0.5f + i * stepDist , 14 + 6.0f * i, -heightFieldWidth * 0.5f + i * stepDist);
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rp3d::Transform boxTransform(boxPosition, rp3d::Quaternion::identity());
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mBoxes[i]->resetTransform(boxTransform);
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}
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}
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