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Update collision detection scene in testbed application

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This commit is contained in:
Daniel Chappuis 2017-02-27 19:06:28 +01:00
parent b21a6bb59b
commit 0ecd554f50
2 changed files with 41 additions and 15 deletions
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18
testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
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@ -82,6 +82,17 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
mCapsule1->setColor(mGreyColorDemo);
mCapsule1->setSleepingColor(mRedColorDemo);
// ---------- Capsule 2 ---------- //
openglframework::Vector3 position4(-4, 0, 0);
// Create a cylinder and a corresponding collision body in the dynamics world
mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position4, mCollisionWorld, mMeshFolderPath);
mAllShapes.push_back(mCapsule2);
// Set the color
mCapsule2->setColor(mGreyColorDemo);
mCapsule2->setSleepingColor(mRedColorDemo);
// ---------- Cone ---------- //
//openglframework::Vector3 position4(0, 0, 0);
@ -163,6 +174,12 @@ CollisionDetectionScene::~CollisionDetectionScene() {
mCollisionWorld->destroyCollisionBody(mSphere2->getCollisionBody());
delete mSphere2;
mCollisionWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
delete mCapsule1;
mCollisionWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
delete mCapsule2;
/*
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
@ -285,6 +302,7 @@ void CollisionDetectionScene::renderSinglePass(openglframework::Shader& shader,
if (mSphere1->getCollisionBody()->isActive()) mSphere1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mSphere2->getCollisionBody()->isActive()) mSphere2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mCapsule1->getCollisionBody()->isActive()) mCapsule1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mCapsule2->getCollisionBody()->isActive()) mCapsule2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
/*
if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);

18
testbed/scenes/collisiondetection/CollisionDetectionScene.h
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@ -51,8 +51,8 @@ const float CONE_RADIUS = 3.0f;
const float CONE_HEIGHT = 5.0f;
const float CYLINDER_RADIUS = 3.0f;
const float CYLINDER_HEIGHT = 5.0f;
const float CAPSULE_RADIUS = 3.0f;
const float CAPSULE_HEIGHT = 5.0f;
const float CAPSULE_RADIUS = 1.0f;
const float CAPSULE_HEIGHT = 1.0f;
const float DUMBBELL_HEIGHT = 5.0f;
const int NB_RAYS = 100;
const float RAY_LENGTH = 30.0f;
@ -83,21 +83,29 @@ class ContactManager : public rp3d::CollisionCallback {
/// This method will be called for each reported contact point
virtual void notifyContact(const CollisionCallbackInfo& collisionCallbackInfo) override {
rp3d::Vector3 point1 = collisionCallbackInfo.contactPoint.localPoint1;
// For each contact point
rp3d::ContactPointInfo* contactPointInfo = collisionCallbackInfo.contactManifold.getFirstContactPointInfo();
while (contactPointInfo != nullptr) {
rp3d::Vector3 point1 = contactPointInfo->localPoint1;
point1 = collisionCallbackInfo.proxyShape1->getLocalToWorldTransform() * point1;
openglframework::Vector3 position1(point1.x, point1.y, point1.z);
mContactPoints.push_back(ContactPoint(position1));
rp3d::Vector3 point2 = collisionCallbackInfo.contactPoint.localPoint2;
rp3d::Vector3 point2 = contactPointInfo->localPoint2;
point2 = collisionCallbackInfo.proxyShape2->getLocalToWorldTransform() * point2;
openglframework::Vector3 position2(point2.x, point2.y, point2.z);
mContactPoints.push_back(ContactPoint(position2));
// Create a line to display the normal at hit point
rp3d::Vector3 n = collisionCallbackInfo.contactPoint.normal;
rp3d::Vector3 n = contactPointInfo->normal;
openglframework::Vector3 normal(n.x, n.y, n.z);
Line* normalLine = new Line(position1, position1 + normal);
mNormals.push_back(normalLine);
contactPointInfo = contactPointInfo->next;
}
}
void resetPoints() {