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Edit collision detection scene

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This commit is contained in:
Daniel Chappuis 2017-08-18 17:51:10 +02:00
parent 319cc72cde
commit 11589dbb2c
2 changed files with 15 additions and 41 deletions
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47
testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
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@ -72,7 +72,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
mSphere2->setSleepingColor(mRedColorDemo); mSphere2->setSleepingColor(mRedColorDemo);
// ---------- Capsule 1 ---------- // // ---------- Capsule 1 ---------- //
openglframework::Vector3 position3(0, -12, 0); openglframework::Vector3 position3(-6, 7, 0);
// Create a cylinder and a corresponding collision body in the dynamics world // Create a cylinder and a corresponding collision body in the dynamics world
mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position3, mCollisionWorld, mMeshFolderPath); mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position3, mCollisionWorld, mMeshFolderPath);
@ -83,7 +83,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
mCapsule1->setSleepingColor(mRedColorDemo); mCapsule1->setSleepingColor(mRedColorDemo);
// ---------- Capsule 2 ---------- // // ---------- Capsule 2 ---------- //
openglframework::Vector3 position4(-8, 0, 0); openglframework::Vector3 position4(11, -8, 0);
// Create a cylinder and a corresponding collision body in the dynamics world // Create a cylinder and a corresponding collision body in the dynamics world
mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position4, mCollisionWorld, mMeshFolderPath); mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position4, mCollisionWorld, mMeshFolderPath);
@ -115,38 +115,16 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
mBox2->setColor(mGreyColorDemo); mBox2->setColor(mGreyColorDemo);
mBox2->setSleepingColor(mRedColorDemo); mBox2->setSleepingColor(mRedColorDemo);
// ---------- Cone ---------- //
//openglframework::Vector3 position4(0, 0, 0);
// Create a cone and a corresponding collision body in the dynamics world
//mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
// mMeshFolderPath);
// Set the color
//mCone->setColor(mGreyColorDemo);
//mCone->setSleepingColor(mRedColorDemo);
// ---------- Cylinder ---------- //
//openglframework::Vector3 position5(0, 0, 0);
// Create a cylinder and a corresponding collision body in the dynamics world
//mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
// mCollisionWorld, mMeshFolderPath);
// Set the color
//mCylinder->setColor(mGreyColorDemo);
//mCylinder->setSleepingColor(mRedColorDemo);
// ---------- Convex Mesh ---------- // // ---------- Convex Mesh ---------- //
//openglframework::Vector3 position7(0, 0, 0); openglframework::Vector3 position7(-5, 0, 0);
// Create a convex mesh and a corresponding collision body in the dynamics world // Create a convex mesh and a corresponding collision body in the dynamics world
//mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj"); mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj");
mAllShapes.push_back(mConvexMesh);
// Set the color // Set the color
//mConvexMesh->setColor(mGreyColorDemo); mConvexMesh->setColor(mGreyColorDemo);
//mConvexMesh->setSleepingColor(mRedColorDemo); mConvexMesh->setSleepingColor(mRedColorDemo);
// ---------- Concave Mesh ---------- // // ---------- Concave Mesh ---------- //
//openglframework::Vector3 position8(0, 0, 0); //openglframework::Vector3 position8(0, 0, 0);
@ -202,6 +180,9 @@ CollisionDetectionScene::~CollisionDetectionScene() {
mCollisionWorld->destroyCollisionBody(mBox2->getCollisionBody()); mCollisionWorld->destroyCollisionBody(mBox2->getCollisionBody());
delete mBox2; delete mBox2;
mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
delete mConvexMesh;
/* /*
// Destroy the corresponding rigid body from the dynamics world // Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody()); mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
@ -219,12 +200,6 @@ CollisionDetectionScene::~CollisionDetectionScene() {
// Destroy the sphere // Destroy the sphere
delete mCapsule; delete mCapsule;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
// Destroy the convex mesh
delete mConvexMesh;
// Destroy the corresponding rigid body from the dynamics world // Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody()); mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
@ -280,13 +255,13 @@ void CollisionDetectionScene::renderSinglePass(openglframework::Shader& shader,
if (mCapsule2->getCollisionBody()->isActive()) mCapsule2->render(shader, worldToCameraMatrix, mIsWireframeEnabled); if (mCapsule2->getCollisionBody()->isActive()) mCapsule2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mBox1->getCollisionBody()->isActive()) mBox1->render(shader, worldToCameraMatrix, mIsWireframeEnabled); if (mBox1->getCollisionBody()->isActive()) mBox1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mBox2->getCollisionBody()->isActive()) mBox2->render(shader, worldToCameraMatrix, mIsWireframeEnabled); if (mBox2->getCollisionBody()->isActive()) mBox2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
/* /*
if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix); if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);
if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix); if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix);
if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix); if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix);
if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix); if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix);
if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix);
if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix); if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix);
if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix); if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix);
if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix); if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix);

7
testbed/scenes/collisiondetection/CollisionDetectionScene.h
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@ -107,6 +107,8 @@ class ContactManager : public rp3d::CollisionCallback {
contactPoint = contactPoint->getNext(); contactPoint = contactPoint->getNext();
} }
manifoldElement = manifoldElement->getNext();
} }
} }
@ -143,10 +145,7 @@ class CollisionDetectionScene : public SceneDemo {
Capsule* mCapsule2; Capsule* mCapsule2;
Box* mBox1; Box* mBox1;
Box* mBox2; Box* mBox2;
//Cone* mCone; ConvexMesh* mConvexMesh;
//Cylinder* mCylinder;
//Capsule* mCapsule;
//ConvexMesh* mConvexMesh;
//Dumbbell* mDumbbell; //Dumbbell* mDumbbell;
//ConcaveMesh* mConcaveMesh; //ConcaveMesh* mConcaveMesh;
//HeightField* mHeightField; //HeightField* mHeightField;