reactphysics3d/testbed/scenes/concavemesh/ConcaveMeshScene.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
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*    appreciated but is not required.                                           *
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*    misrepresented as being the original software.                             *
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// Libraries
#include "ConcaveMeshScene.h"

// Namespaces
using namespace openglframework;
using namespace trianglemeshscene;

// Constructor
ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& settings)
      : SceneDemo(name, settings, SCENE_RADIUS) {

    std::string meshFolderPath("meshes/");

    // Compute the radius and the center of the scene
    openglframework::Vector3 center(0, 5, 0);

    // Set the center of the scene
    setScenePosition(center, SCENE_RADIUS);

    // Gravity vector in the dynamics world
    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);

    // Create the dynamics world for the physics simulation
    mPhysicsWorld = new rp3d::DynamicsWorld(gravity);

#ifdef IS_PROFILING_ACTIVE

    mPhysicsWorld->setProfilerName(name + "_profiler");

#endif

    // ---------- Create the boxes ----------- //
    for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {

        // Create a convex mesh and a corresponding rigid in the dynamics world
        Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath);

        // Set the box color
        dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
        dumbbell->setSleepingColor(mRedColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
        material.setBounciness(rp3d::decimal(0.2));

        // Add the mesh the list of dumbbells in the scene
        mDumbbells.push_back(dumbbell);
        mPhysicsObjects.push_back(dumbbell);
    }

    // Create all the boxes of the scene
    for (int i = 0; i<NB_BOXES; i++) {

        // Create a sphere and a corresponding rigid in the dynamics world
        Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);

        // Set the box color
        box->setColor(mDemoColors[i % mNbDemoColors]);
        box->setSleepingColor(mRedColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = box->getRigidBody()->getMaterial();
        material.setBounciness(rp3d::decimal(0.2));

        // Add the sphere the list of sphere in the scene
        mBoxes.push_back(box);
        mPhysicsObjects.push_back(box);
    }

    // Create all the spheres of the scene
    for (int i = 0; i<NB_SPHERES; i++) {

        // Create a sphere and a corresponding rigid in the dynamics world
        Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, getDynamicsWorld(), meshFolderPath);

        // Add some rolling resistance
        sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));

        // Set the box color
        sphere->setColor(mDemoColors[i % mNbDemoColors]);
        sphere->setSleepingColor(mRedColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = sphere->getRigidBody()->getMaterial();
        material.setBounciness(rp3d::decimal(0.2));

        // Add the sphere the list of sphere in the scene
        mSpheres.push_back(sphere);
        mPhysicsObjects.push_back(sphere);
    }

    // Create all the capsules of the scene
    for (int i = 0; i<NB_CAPSULES; i++) {

        // Create a cylinder and a corresponding rigid in the dynamics world
        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
                                       getDynamicsWorld(), meshFolderPath);

        capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));

        // Set the box color
        capsule->setColor(mDemoColors[i % mNbDemoColors]);
        capsule->setSleepingColor(mRedColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = capsule->getRigidBody()->getMaterial();
        material.setBounciness(rp3d::decimal(0.2));

        // Add the cylinder the list of sphere in the scene
        mCapsules.push_back(capsule);
        mPhysicsObjects.push_back(capsule);
    }

    // Create all the convex meshes of the scene
    for (int i = 0; i<NB_MESHES; i++) {

        // Create a convex mesh and a corresponding rigid in the dynamics world
        ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");

        // Set the box color
        mesh->setColor(mDemoColors[i % mNbDemoColors]);
        mesh->setSleepingColor(mRedColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = mesh->getRigidBody()->getMaterial();
        material.setBounciness(rp3d::decimal(0.2));

        // Add the mesh the list of sphere in the scene
        mConvexMeshes.push_back(mesh);
        mPhysicsObjects.push_back(mesh);
    }

    // ---------- Create the triangular mesh ---------- //

    // Position
    rp3d::decimal mass = 1.0;

    // Create a convex mesh and a corresponding rigid in the dynamics world
    mConcaveMesh = new ConcaveMesh(mass, getDynamicsWorld(), meshFolderPath + "city.obj");

    // Set the mesh as beeing static
    mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC);

    // Set the box color
    mConcaveMesh->setColor(mGreyColorDemo);
    mConcaveMesh->setSleepingColor(mGreyColorDemo);

    mPhysicsObjects.push_back(mConcaveMesh);

    // Change the material properties of the rigid body
    rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
    material.setBounciness(rp3d::decimal(0.2));
    material.setFrictionCoefficient(rp3d::decimal(0.1));

    // Get the physics engine parameters
    mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
    rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
    mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
    mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
    mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
    mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
    mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
    mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
    mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
}

// Destructor
ConcaveMeshScene::~ConcaveMeshScene() {

    // Destroy all the physics objects of the scene
    for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {

        // Destroy the corresponding rigid body from the dynamics world
        getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());

        // Destroy the object
        delete (*it);
    }

    // Destroy the dynamics world
    delete getDynamicsWorld();
}

// Reset the scene
void ConcaveMeshScene::reset() {

    const float radius = 15.0f;

    for (uint i = 0; i<NB_COMPOUND_SHAPES; i++) {

        // Position
        float angle = i * 30.0f;
        rp3d::Vector3 position(radius * std::cos(angle),
            125 + i * (DUMBBELL_HEIGHT + 0.3f),
            radius * std::sin(angle));

        mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
    }

    // Create all the boxes of the scene
    for (uint i = 0; i<NB_BOXES; i++) {

        // Position
        float angle = i * 30.0f;
        rp3d::Vector3 position(radius * std::cos(angle),
            85 + i * (BOX_SIZE.y + 0.8f),
            radius * std::sin(angle));

        mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
    }

    // Create all the spheres of the scene
    for (uint i = 0; i<NB_SPHERES; i++) {

        // Position
        float angle = i * 35.0f;
        rp3d::Vector3 position(radius * std::cos(angle),
            75 + i * (SPHERE_RADIUS + 0.8f),
            radius * std::sin(angle));

        mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
    }

    // Create all the capsules of the scene
    for (uint i = 0; i<NB_CAPSULES; i++) {

        // Position
        float angle = i * 45.0f;
        rp3d::Vector3 position(radius * std::cos(angle),
            40 + i * (CAPSULE_HEIGHT + 0.3f),
            radius * std::sin(angle));

        mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
    }

    // Create all the convex meshes of the scene
    for (uint i = 0; i<NB_MESHES; i++) {

        // Position
        float angle = i * 30.0f;
        rp3d::Vector3 position(radius * std::cos(angle),
            30 + i * (CAPSULE_HEIGHT + 0.3f),
            radius * std::sin(angle));

        mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
    }

    // ---------- Create the triangular mesh ---------- //

    mConcaveMesh->setTransform(rp3d::Transform::identity());
}