diff --git a/testbed/common/ConcaveMesh.cpp b/testbed/common/ConcaveMesh.cpp index 3125a396..3c0dcc06 100644 --- a/testbed/common/ConcaveMesh.cpp +++ b/testbed/common/ConcaveMesh.cpp @@ -29,13 +29,13 @@ // Constructor ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, reactphysics3d::CollisionWorld* world, - const std::string& meshFolderPath) + const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file - openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "concavemesh.obj", *this); + openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); @@ -86,13 +86,13 @@ ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, // Constructor ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, float mass, reactphysics3d::DynamicsWorld* dynamicsWorld, - const std::string& meshFolderPath) + const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file - openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "concavemesh.obj", *this); + openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); diff --git a/testbed/common/ConcaveMesh.h b/testbed/common/ConcaveMesh.h index cb01d629..3ff9aa13 100644 --- a/testbed/common/ConcaveMesh.h +++ b/testbed/common/ConcaveMesh.h @@ -77,11 +77,11 @@ class ConcaveMesh : public openglframework::Mesh, public PhysicsObject { /// Constructor ConcaveMesh(const openglframework::Vector3& position, - rp3d::CollisionWorld* world, const std::string& meshFolderPath); + rp3d::CollisionWorld* world, const std::string& meshPath); /// Constructor ConcaveMesh(const openglframework::Vector3& position, float mass, - rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); + rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); /// Destructor ~ConcaveMesh(); diff --git a/testbed/common/ConvexMesh.cpp b/testbed/common/ConvexMesh.cpp index 365713a4..3fe1fd1d 100644 --- a/testbed/common/ConvexMesh.cpp +++ b/testbed/common/ConvexMesh.cpp @@ -29,13 +29,13 @@ // Constructor ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, reactphysics3d::CollisionWorld* world, - const std::string& meshFolderPath) + const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file - openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "convexmesh.obj", *this); + openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); @@ -80,13 +80,13 @@ ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, // Constructor ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass, reactphysics3d::DynamicsWorld* dynamicsWorld, - const std::string& meshFolderPath) + const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file - openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "convexmesh.obj", *this); + openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); diff --git a/testbed/common/ConvexMesh.h b/testbed/common/ConvexMesh.h index 0f66a143..f92098e4 100644 --- a/testbed/common/ConvexMesh.h +++ b/testbed/common/ConvexMesh.h @@ -76,11 +76,11 @@ class ConvexMesh : public openglframework::Mesh, public PhysicsObject { /// Constructor ConvexMesh(const openglframework::Vector3& position, - rp3d::CollisionWorld* world, const std::string& meshFolderPath); + rp3d::CollisionWorld* world, const std::string& meshPath); /// Constructor ConvexMesh(const openglframework::Vector3& position, float mass, - rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath); + rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath); /// Destructor ~ConvexMesh(); diff --git a/testbed/meshes/concavemesh.mtl b/testbed/meshes/city.mtl similarity index 71% rename from testbed/meshes/concavemesh.mtl rename to testbed/meshes/city.mtl index 8dfc31ca..70d3ba1d 100644 --- a/testbed/meshes/concavemesh.mtl +++ b/testbed/meshes/city.mtl @@ -1,4 +1,4 @@ -# Blender MTL File: 'concave_terrain.blend' +# Blender MTL File: 'None' # Material Count: 1 newmtl None diff --git a/testbed/meshes/city.obj b/testbed/meshes/city.obj new file mode 100644 index 00000000..b21ddf25 --- /dev/null +++ b/testbed/meshes/city.obj @@ -0,0 +1,25823 @@ +# Blender v2.72 (sub 0) OBJ File: '' +# www.blender.org +mtllib city.mtl +o city +v -47.608734 -2.678972 39.219124 +v 24.452887 -2.678972 39.219124 +v 24.452887 -1.444906 39.219124 +v -47.608734 -1.444906 39.219124 +v 24.452887 -2.678949 -27.998314 +v -47.608734 -2.678949 -27.998314 +v -47.608734 -1.444883 -27.998314 +v 24.452887 -1.444883 -27.998314 +v -20.092892 3.203010 -15.994349 +v -20.092892 3.203009 -13.357882 +v -17.456295 3.203009 -13.357882 +v -17.456295 3.203010 -15.994349 +v -17.456295 -1.380924 -15.994349 +v -17.456295 -1.380927 -13.357882 +v -20.092892 -1.380927 -13.357882 +v -20.092892 -1.380924 -15.994349 +v -20.092892 -1.380924 -15.994349 +v -20.092892 3.203010 -15.994349 +v -17.456295 3.203010 -15.994349 +v -17.456295 -1.380924 -15.994349 +v -17.456295 -1.380927 -13.357882 +v -17.456295 3.203009 -13.357882 +v -20.092892 3.203009 -13.357882 +v -20.092892 -1.380927 -13.357882 +v -17.456295 3.203010 -15.994349 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sin(angle)); // Create a convex mesh and a corresponding rigid in the dynamics world - ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld, meshFolderPath); + ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld, meshFolderPath + "convexmesh.obj"); // Set the box color mesh->setColor(mDemoColors[i % mNbDemoColors]); diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp index 8decca49..d02861b2 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.cpp +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.cpp @@ -52,21 +52,27 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name) // Set the number of iterations of the constraint solver mDynamicsWorld->setNbIterationsVelocitySolver(15); - // ---------- Create the cube ----------- // + // ---------- Create the boxes ----------- // - // Position - openglframework::Vector3 spherePos(15, 10, 0); + for (int i=0; isetColor(mDemoColors[0]); - mBox->setSleepingColor(mRedColorDemo); + // Position + openglframework::Vector3 boxPosition(-NB_BOXES_X * BOX_SIZE * BOXES_SPACE / 2 + i * BOX_SIZE * BOXES_SPACE, 30, -NB_BOXES_Z * BOX_SIZE * BOXES_SPACE / 2 + j * BOX_SIZE * BOXES_SPACE); - // Change the material properties of the rigid body - rp3d::Material& sphereMat = mBox->getRigidBody()->getMaterial(); - sphereMat.setBounciness(rp3d::decimal(0.2)); + // Create a sphere and a corresponding rigid in the dynamics world + mBoxes[i * NB_BOXES_Z + j] = new Box(Vector3(BOX_SIZE, BOX_SIZE, BOX_SIZE) * 0.5f, boxPosition, 80.1, mDynamicsWorld); + + // Set the sphere color + mBoxes[i * NB_BOXES_Z + j]->setColor(mDemoColors[0]); + mBoxes[i * NB_BOXES_Z + j]->setSleepingColor(mRedColorDemo); + + // Change the material properties of the rigid body + rp3d::Material& boxMaterial = mBoxes[i * NB_BOXES_Z + j]->getRigidBody()->getMaterial(); + boxMaterial.setBounciness(rp3d::decimal(0.2)); + } + } // ---------- Create the triangular mesh ---------- // @@ -75,7 +81,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name) rp3d::decimal mass = 1.0; // Create a convex mesh and a corresponding rigid in the dynamics world - mConcaveMesh = new ConcaveMesh(position, mass, mDynamicsWorld, meshFolderPath); + mConcaveMesh = new ConcaveMesh(position, mass, mDynamicsWorld, meshFolderPath + "city.obj"); // Set the mesh as beeing static mConcaveMesh->getRigidBody()->setType(rp3d::STATIC); @@ -104,11 +110,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name) // Destructor ConcaveMeshScene::~ConcaveMeshScene() { - mDynamicsWorld->destroyRigidBody(mBox->getRigidBody()); // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody(mConcaveMesh->getRigidBody()); - delete mBox; + // Destroy the boxes + for (int i=0; idestroyRigidBody(mBoxes[i]->getRigidBody()); + delete mBoxes[i]; + } // Destroy the convex mesh delete mConcaveMesh; @@ -143,7 +152,10 @@ void ConcaveMeshScene::update() { // Update the transform used for the rendering mConcaveMesh->updateTransform(mInterpolationFactor); - mBox->updateTransform(mInterpolationFactor); + + for (int i=0; iupdateTransform(mInterpolationFactor); + } } // Render the scene in a single pass @@ -153,7 +165,10 @@ void ConcaveMeshScene::renderSinglePass(Shader& shader, const openglframework::M shader.bind(); mConcaveMesh->render(shader, worldToCameraMatrix); - mBox->render(shader, worldToCameraMatrix); + + for (int i=0; irender(shader, worldToCameraMatrix); + } // Unbind the shader shader.unbind(); @@ -163,13 +178,18 @@ void ConcaveMeshScene::renderSinglePass(Shader& shader, const openglframework::M void ConcaveMeshScene::reset() { // Reset the transform - rp3d::Quaternion initOrientation(0, 0, 3.141/12); - rp3d::Quaternion initOrientation2(0, 0, 3.141/13); - //rp3d::Transform transform(rp3d::Vector3(0, 0, 0), initOrientation); - rp3d::Transform transform(rp3d::Vector3(0, 0, 0), initOrientation2); + rp3d::Transform transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity()); mConcaveMesh->resetTransform(transform); - rp3d::Vector3 spherePos(2, 15, 0); - rp3d::Transform sphereTransform(spherePos, initOrientation2); - mBox->resetTransform(sphereTransform); + for (int i=0; iresetTransform(boxTransform); + } + } + } diff --git a/testbed/scenes/concavemesh/ConcaveMeshScene.h b/testbed/scenes/concavemesh/ConcaveMeshScene.h index 2911230e..ac9965e7 100644 --- a/testbed/scenes/concavemesh/ConcaveMeshScene.h +++ b/testbed/scenes/concavemesh/ConcaveMeshScene.h @@ -38,6 +38,10 @@ namespace trianglemeshscene { // Constants const float SCENE_RADIUS = 30.0f; // Radius of the scene in meters +const int NB_BOXES_X = 8; +const int NB_BOXES_Z = 8; +const float BOX_SIZE = 3.0f; +const float BOXES_SPACE = 2.0f; // Class TriangleMeshScene class ConcaveMeshScene : public SceneDemo { @@ -46,7 +50,7 @@ class ConcaveMeshScene : public SceneDemo { // -------------------- Attributes -------------------- // - Box* mBox; + Box* mBoxes[NB_BOXES_X * NB_BOXES_Z]; /// Concave triangles mesh ConcaveMesh* mConcaveMesh; diff --git a/testbed/scenes/heightfield/HeightFieldScene.cpp b/testbed/scenes/heightfield/HeightFieldScene.cpp index 28246af9..8cb0b4b8 100644 --- a/testbed/scenes/heightfield/HeightFieldScene.cpp +++ b/testbed/scenes/heightfield/HeightFieldScene.cpp @@ -57,16 +57,16 @@ HeightFieldScene::HeightFieldScene(const std::string& name) : SceneDemo(name, SC // Position openglframework::Vector3 position(15, 10 + 6 * i, 0); - // Create a sphere and a corresponding rigid in the dynamics world + // Create a box and a corresponding rigid in the dynamics world mBoxes[i] = new Box(Vector3(3, 3, 3), position, 80.1, mDynamicsWorld); - // Set the sphere color + // Set the box color mBoxes[i]->setColor(mDemoColors[2]); mBoxes[i]->setSleepingColor(mRedColorDemo); // Change the material properties of the rigid body - rp3d::Material& sphereMat = mBoxes[i]->getRigidBody()->getMaterial(); - sphereMat.setBounciness(rp3d::decimal(0.2)); + rp3d::Material& boxMaterial = mBoxes[i]->getRigidBody()->getMaterial(); + boxMaterial.setBounciness(rp3d::decimal(0.2)); } // ---------- Create the height field ---------- // @@ -174,15 +174,14 @@ void HeightFieldScene::renderSinglePass(Shader& shader, const openglframework::M void HeightFieldScene::reset() { // Reset the transform - rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); - rp3d::Transform transform(rp3d::Vector3(0, 0, 0), initOrientation); + rp3d::Transform transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()); mHeightField->resetTransform(transform); float heightFieldWidth = 10.0f; float stepDist = heightFieldWidth / (NB_BOXES + 1); for (int i=0; iresetTransform(sphereTransform); + rp3d::Vector3 boxPosition(-heightFieldWidth * 0.5f + i * stepDist , 14 + 6.0f * i, -heightFieldWidth * 0.5f + i * stepDist); + rp3d::Transform boxTransform(boxPosition, rp3d::Quaternion::identity()); + mBoxes[i]->resetTransform(boxTransform); } } diff --git a/testbed/scenes/raycast/RaycastScene.cpp b/testbed/scenes/raycast/RaycastScene.cpp index d3d5c57b..e593038e 100644 --- a/testbed/scenes/raycast/RaycastScene.cpp +++ b/testbed/scenes/raycast/RaycastScene.cpp @@ -116,7 +116,7 @@ RaycastScene::RaycastScene(const std::string& name) openglframework::Vector3 position7(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world - mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath); + mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj"); // Set the color mConvexMesh->setColor(mGreyColorDemo); @@ -126,7 +126,7 @@ RaycastScene::RaycastScene(const std::string& name) openglframework::Vector3 position8(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world - mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath); + mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath + "city.obj"); // Set the color mConcaveMesh->setColor(mGreyColorDemo);