Add ball-and-socket joints chain and hinge joints chain demos in testbed application

testbed/CMakeLists.txt

@@ -125,6 +125,10 @@ set(COMMON_SOURCES
 set(SCENES_SOURCES
     scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h
     scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp
+    scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h
+    scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp
+    scenes/hingejointschain/HingeJointsChainScene.h
+    scenes/hingejointschain/HingeJointsChainScene.cpp
     scenes/cubes/CubesScene.h
     scenes/cubes/CubesScene.cpp
     scenes/joints/JointsScene.h

testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.cpp

@@ -0,0 +1,159 @@
+/********************************************************************************
+* 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.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 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.                                           *
+*                                                                               *
+* 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "BallAndSocketJointsChainScene.h"
+#include <cmath>
+
+// Namespaces
+using namespace openglframework;
+using namespace ballandsocketjointschainscene;
+
+// Constructor
+BallAndSocketJointsChainScene::BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings)
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+
+    std::string meshFolderPath("meshes/");
+
+    // Compute the radius and the center of the scene
+    openglframework::Vector3 center(0, 0, 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 all the spheres of the scene
+    for (int i=0; i<NB_SPHERES; i++) {
+
+        // Create a sphere and a corresponding rigid in the physics world
+        mSpheres[i] = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+
+        // Set the sphere color
+        mSpheres[i]->setColor(mObjectColorDemo);
+        mSpheres[i]->setSleepingColor(mSleepingColorDemo);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = mSpheres[i]->getCollider()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.0));
+
+        if (i == 0) {
+            mSpheres[i]->getRigidBody()->setType(rp3d::BodyType::STATIC);
+        }
+
+        // Add the sphere the list of sphere in the scene
+        mPhysicsObjects.push_back(mSpheres[i]);
+    }
+
+    // Set the position of the spheres before the joints creation
+    reset();
+
+    // Create the Ball-and-Socket joints
+    createJoints();
+
+    // 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
+BallAndSocketJointsChainScene::~BallAndSocketJointsChainScene() {
+
+    // Destroy the joints
+    for (uint i=0; i < mBallAndSocketJoints.size(); i++) {
+
+        mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]);
+    }
+
+    // Destroy all the rigid bodies of the scene
+    for (int i=0; i<NB_SPHERES; i++) {
+
+        mPhysicsWorld->destroyRigidBody(mSpheres[i]->getRigidBody());
+    }
+
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
+}
+
+// Create the joints
+void BallAndSocketJointsChainScene::createJoints() {
+
+    for (int i=0; i < NB_SPHERES-1; i++) {
+
+        // Create the joint info object
+        rp3d::RigidBody* body1 = mSpheres[i]->getRigidBody();
+        rp3d::RigidBody* body2 = mSpheres[i+1]->getRigidBody();
+        rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+        rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+        const rp3d::Vector3 anchorPointWorldSpace = body1Position;
+        rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
+        jointInfo.isCollisionEnabled = false;
+        rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>( mPhysicsWorld->createJoint(jointInfo));
+        mBallAndSocketJoints.push_back(joint);
+    }
+}
+
+// Reset the scene
+void BallAndSocketJointsChainScene::reset() {
+
+    SceneDemo::reset();
+
+    const float space = 0.5f;
+
+    const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+
+    for (int i=0; i<NB_SPHERES; i++) {
+
+        // Initial position and orientation of the rigid body
+        rp3d::Vector3 initPosition(i * (2 * SPHERE_RADIUS + space), 20, 0);
+        rp3d::Transform transform(initPosition, initOrientation);
+
+        // Create a box and a corresponding rigid in the physics world
+        mSpheres[i]->setTransform(transform);
+    }
+}

testbed/scenes/ballandsocketjointschain/BallAndSocketJointsChainScene.h

@@ -0,0 +1,76 @@
+/********************************************************************************
+* 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.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 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.                                           *
+*                                                                               *
+* 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.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef BALL_AND_SOCKET_JOINTS_CHAIN_SCENE_H
+#define BALL_AND_SOCKET_JOINTS_CHAIN_SCENE_H
+
+// Libraries
+#include "openglframework.h"
+#include <reactphysics3d/reactphysics3d.h>
+#include "Sphere.h"
+#include "SceneDemo.h"
+
+namespace ballandsocketjointschainscene {
+
+// Constants
+const float SCENE_RADIUS = 60.0f;
+const float SPHERE_RADIUS = 1.0f;
+const int NB_SPHERES = 20;
+
+// Class BallAndSocketJointsChain scene
+class BallAndSocketJointsChainScene : public SceneDemo {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Spheres in the Ball-And-Socket joint net
+        Sphere* mSpheres[NB_SPHERES];
+
+        /// Ball-And-Socket joints of the chain
+        std::vector<rp3d::BallAndSocketJoint*> mBallAndSocketJoints;
+
+        // -------------------- Methods -------------------- //
+
+        /// Create the joints
+        void createJoints();
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        BallAndSocketJointsChainScene(const std::string& name, EngineSettings& settings);
+
+        /// Destructor
+        virtual ~BallAndSocketJointsChainScene() override ;
+
+        /// Reset the scene
+        virtual void reset() override;
+};
+
+}
+
+#endif

testbed/scenes/hingejointschain/HingeJointsChainScene.cpp

@@ -0,0 +1,159 @@
+/********************************************************************************
+* 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.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 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.                                           *
+*                                                                               *
+* 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "HingeJointsChainScene.h"
+#include <cmath>
+
+// Namespaces
+using namespace openglframework;
+using namespace hingejointschainscene;
+
+// Constructor
+HingeJointsChainScene::HingeJointsChainScene(const std::string& name, EngineSettings& settings)
+      : SceneDemo(name, settings, true, SCENE_RADIUS) {
+
+    std::string meshFolderPath("meshes/");
+
+    // Compute the radius and the center of the scene
+    openglframework::Vector3 center(0, 0, 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 all the boxes of the scene
+    for (int i=0; i<NB_BOXES; i++) {
+
+        // Create a box and a corresponding rigid in the physics world
+        mBoxes[i] = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+
+        // Set the box color
+        mBoxes[i]->setColor(mObjectColorDemo);
+        mBoxes[i]->setSleepingColor(mSleepingColorDemo);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = mBoxes[i]->getCollider()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.0));
+
+        if (i == 0) {
+            mBoxes[i]->getRigidBody()->setType(rp3d::BodyType::STATIC);
+        }
+
+        // Add the box the list of boxes in the scene
+        mPhysicsObjects.push_back(mBoxes[i]);
+    }
+
+    // Set the position of the boxes before the joints creation
+    reset();
+
+    // Create the Ball-and-Socket joints
+    createJoints();
+
+    // 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
+HingeJointsChainScene::~HingeJointsChainScene() {
+
+    // Destroy the joints
+    for (uint i=0; i < mHingeJoints.size(); i++) {
+
+        mPhysicsWorld->destroyJoint(mHingeJoints[i]);
+    }
+
+    // Destroy all the rigid bodies of the scene
+    for (int i=0; i<NB_BOXES; i++) {
+
+        mPhysicsWorld->destroyRigidBody(mBoxes[i]->getRigidBody());
+    }
+
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
+}
+
+// Create the joints
+void HingeJointsChainScene::createJoints() {
+
+    for (int i=0; i < NB_BOXES-1; i++) {
+
+        // Create the joint info object
+        rp3d::RigidBody* body1 = mBoxes[i]->getRigidBody();
+        rp3d::RigidBody* body2 = mBoxes[i+1]->getRigidBody();
+        rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+        rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+        const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0);
+        rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1));
+        jointInfo.isCollisionEnabled = false;
+        rp3d::HingeJoint* joint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
+        mHingeJoints.push_back(joint);
+    }
+}
+
+// Reset the scene
+void HingeJointsChainScene::reset() {
+
+    SceneDemo::reset();
+
+    const float space = 0.3f;
+
+    const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+
+    for (int i=0; i<NB_BOXES; i++) {
+
+        // Initial position and orientation of the rigid body
+        rp3d::Vector3 initPosition(i * (BOX_SIZE.x + space), 20, 0);
+        rp3d::Transform transform(initPosition, initOrientation);
+
+        // Create a box and a corresponding rigid in the physics world
+        mBoxes[i]->setTransform(transform);
+    }
+}

testbed/scenes/hingejointschain/HingeJointsChainScene.h

@@ -0,0 +1,76 @@
+/********************************************************************************
+* 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.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 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.                                           *
+*                                                                               *
+* 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.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef HINGE_JOINTS_CHAIN_SCENE_H
+#define HINGE_JOINTS_CHAIN_SCENE_H
+
+// Libraries
+#include "openglframework.h"
+#include <reactphysics3d/reactphysics3d.h>
+#include "Box.h"
+#include "SceneDemo.h"
+
+namespace hingejointschainscene {
+
+// Constants
+const float SCENE_RADIUS = 60.0f;
+const openglframework::Vector3 BOX_SIZE = openglframework::Vector3(2, 1, 1);
+const int NB_BOXES = 20;
+
+// Class HingeJointsChain scene
+class HingeJointsChainScene : public SceneDemo {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Boxes
+        Box* mBoxes[NB_BOXES];
+
+        /// Hinge joints of the chain
+        std::vector<rp3d::HingeJoint*> mHingeJoints;
+
+        // -------------------- Methods -------------------- //
+
+        /// Create the joints
+        void createJoints();
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        HingeJointsChainScene(const std::string& name, EngineSettings& settings);
+
+        /// Destructor
+        virtual ~HingeJointsChainScene() override ;
+
+        /// Reset the scene
+        virtual void reset() override;
+};
+
+}
+
+#endif

testbed/src/TestbedApplication.cpp

@@ -40,6 +40,8 @@
 #include "pile/PileScene.h"
 #include "boxtower/BoxTowerScene.h"
 #include "ballandsocketjointsnet/BallAndSocketJointsNetScene.h"
+#include "ballandsocketjointschain/BallAndSocketJointsChainScene.h"
+#include "hingejointschain/HingeJointsChainScene.h"
 
 using namespace openglframework;
 using namespace jointsscene;
@@ -53,6 +55,8 @@ using namespace cubestackscene;
 using namespace pilescene;
 using namespace boxtowerscene;
 using namespace ballandsocketjointsnetscene;
+using namespace ballandsocketjointschainscene;
+using namespace hingejointschainscene;
 
 // Initialization of static variables
 const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@@ -147,16 +151,23 @@ void TestbedApplication::createScenes() {
     // Pile scene
     PileScene* pileScene = new PileScene("Pile", mEngineSettings);
     mScenes.push_back(pileScene);
-    assert(mScenes.size() > 0);
 
     // Box Tower scene
     BoxTowerScene* boxTowerScene = new BoxTowerScene("Box Tower", mEngineSettings);
     mScenes.push_back(boxTowerScene);
-    assert(mScenes.size() > 0);
 
     // Ball and Socket joints Net scene
     BallAndSocketJointsNetScene* ballAndSocketJointsNetScene = new BallAndSocketJointsNetScene("BallAndSocket Joints Net", mEngineSettings);
     mScenes.push_back(ballAndSocketJointsNetScene);
+
+    // Ball and Socket joints chain scene
+    BallAndSocketJointsChainScene* ballAndSocketJointsChainScene = new BallAndSocketJointsChainScene("BallAndSocket Joints Chain", mEngineSettings);
+    mScenes.push_back(ballAndSocketJointsChainScene);
+
+    // Hinge joints chain scene
+    HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene("Hinge Joints Chain", mEngineSettings);
+    mScenes.push_back(hingeJointsChainScene);
+
     assert(mScenes.size() > 0);
 
     const int firstSceneIndex = 0;