reactphysics3d/testbed/scenes/heightfield/HeightFieldScene.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* This software is provided 'as-is', without any express or implied warranty.   *
* In no event will the authors be held liable for any damages arising from the  *
* use of this software.                                                         *
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* including commercial applications, and to alter it and redistribute it        *
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*                                                                               *
* 1. The origin of this software must not be misrepresented; you must not claim *
*    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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* 2. Altered source versions must be plainly marked as such, and must not be    *
*    misrepresented as being the original software.                             *
*                                                                               *
* 3. This notice may not be removed or altered from any source distribution.    *
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********************************************************************************/

#ifndef HEIGHT_FIELD_SCENE_H
#define HEIGHT_FIELD_SCENE_H

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

namespace heightfieldscene {

// Constants
const float SCENE_RADIUS = 50.0f;
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 openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);        // Floor dimensions in meters
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;
const float FLOOR_MASS = 100.0f;

// Class HeightFieldScene
class HeightFieldScene : public SceneDemo {

    protected :

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

		/// All the boxes of the scene
		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;

        /// Height field
        HeightField* mHeightField;

        /// Dynamics world used for the physics simulation
        rp3d::DynamicsWorld* mDynamicsWorld;

    public:

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

        /// Constructor
        HeightFieldScene(const std::string& name);

        /// Destructor
        virtual ~HeightFieldScene() override;

        /// Update the physics world (take a simulation step)
        /// Can be called several times per frame
        virtual void updatePhysics() 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> HeightFieldScene::getContactPoints() const {
    return computeContactPointsOfWorld(mDynamicsWorld);
}

}

#endif