reactphysics3d/testbed/scenes/concavemesh/ConcaveMeshScene.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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* use of this software.                                                         *
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*    that you wrote the original software. If you use this software in a        *
*    product, an acknowledgment in the product documentation would be           *
*    appreciated but is not required.                                           *
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*    misrepresented as being the original software.                             *
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* 3. This notice may not be removed or altered from any source distribution.    *
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#ifndef TRIANGLE_MESH_SCENE_H
#define TRIANGLE_MESH_SCENE_H

// Libraries
#include "openglframework.h"
#include "reactphysics3d.h"
#include "Box.h"
#include "SceneDemo.h"
#include "ConcaveMesh.h"
#include "Box.h"
#include "Capsule.h"
#include "Dumbbell.h"
#include "Sphere.h"
#include "ConvexMesh.h"

namespace trianglemeshscene {

// Constants
const float SCENE_RADIUS = 70.0f;                           // Radius of the scene in meters
static const int NB_BOXES = 10;
static const int NB_SPHERES = 5;
static const int NB_CAPSULES = 5;
static const int NB_MESHES = 3;
static const int NB_COMPOUND_SHAPES = 3;
const openglframework::Vector3 BOX_SIZE(2, 2, 2);
const float SPHERE_RADIUS = 1.5f;
const float CONE_RADIUS = 2.0f;
const float CONE_HEIGHT = 3.0f;
const float CYLINDER_RADIUS = 1.0f;
const float CYLINDER_HEIGHT = 5.0f;
const float CAPSULE_RADIUS = 1.0f;
const float CAPSULE_HEIGHT = 1.0f;
const float DUMBBELL_HEIGHT = 1.0f;
const float BOX_MASS = 1.0f;
const float CONE_MASS = 1.0f;
const float CYLINDER_MASS = 1.0f;
const float CAPSULE_MASS = 1.0f;
const float MESH_MASS = 1.0f;

// Class TriangleMeshScene
class ConcaveMeshScene : public SceneDemo {

    protected :

        // -------------------- Attributes -------------------- //

        std::vector<Box*> mBoxes;

        std::vector<Sphere*> mSpheres;

        std::vector<Capsule*> mCapsules;

        /// All the convex meshes of the scene
        std::vector<ConvexMesh*> mConvexMeshes;

        /// All the dumbbell of the scene
        std::vector<Dumbbell*> mDumbbells;

        /// Concave triangles mesh
        ConcaveMesh* mConcaveMesh;

    public:

        // -------------------- Methods -------------------- //

        /// Constructor
        ConcaveMeshScene(const std::string& name, EngineSettings& settings);

        /// Destructor
        virtual ~ConcaveMeshScene() override;

        /// Reset the scene
        virtual void reset() override;

        /// Return all the contact points of the scene
        virtual std::vector<ContactPoint> getContactPoints() const override;
};

// Return all the contact points of the scene
inline std::vector<ContactPoint> ConcaveMeshScene::getContactPoints() const {
    return computeContactPointsOfWorld(getDynamicsWorld());
}

}

#endif