reactphysics3d/testbed/scenes/hingejoint/HingeJointScene.cpp

/********************************************************************************
* 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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********************************************************************************/

// Libraries
#include "HingeJointScene.h"
#include <cmath>

// Namespaces
using namespace openglframework;
using namespace hingejointscene;

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

    // 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 physics world
    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);

    rp3d::PhysicsWorld::WorldSettings worldSettings;
    worldSettings.worldName = name;

    // Logger
    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
            static_cast<uint>(rp3d::Logger::Level::Error);
    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
    mPhysicsCommon.setLogger(defaultLogger);

    // Create the physics world for the physics simulation
    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
    physicsWorld->setEventListener(this);
    mPhysicsWorld = physicsWorld;

    // Create the Hinge joint
    createHingeJoint();

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

// Destructor
HingeJointScene::~HingeJointScene() {

    // Destroy the joints
    mPhysicsWorld->destroyJoint(mJoint);

    // Destroy all the rigid bodies of the scene
    mPhysicsWorld->destroyRigidBody(mBox1->getRigidBody());
    mPhysicsWorld->destroyRigidBody(mBox2->getRigidBody());

    delete mBox1;
    delete mBox2;

    // Destroy the physics world
    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
}

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

    SceneDemo::reset();

    mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
    mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity()));
}

/// Create the hinge joint
void HingeJointScene::createHingeJoint() {

    // --------------- Create the boxes --------------- //

    // Create a box and a corresponding rigid in the physics world
    mBox1 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
    mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
    mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);

    // Set the box color
    mBox1->setColor(mObjectColorDemo);
    mBox1->setSleepingColor(mSleepingColorDemo);

    // Change the material properties of the rigid body
    mPhysicsObjects.push_back(mBox1);

    // Create a box and a corresponding rigid in the physics world
    mBox2 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
    mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity()));

    // Set the box color
    mBox2->setColor(mObjectColorDemo);
    mBox2->setSleepingColor(mSleepingColorDemo);

    // Change the material properties of the rigid body
    mPhysicsObjects.push_back(mBox2);

    // --------------- Create the Hinge joint --------------- //

    // Create the joint info object
    rp3d::RigidBody* body1 = mBox1->getRigidBody();
    rp3d::RigidBody* body2 = mBox2->getRigidBody();
    const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
    const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
    const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position) - rp3d::Vector3(0, 2, 0);
    const rp3d::Vector3 hingeAxisWorldSpace(0, 0, 1);
    rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
    jointInfo.isCollisionEnabled = false;

    // Create the joint in the physics world
    mJoint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
}