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Modifications in concave shape scene in testbed application

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This commit is contained in:
Daniel Chappuis 2016-04-07 08:39:17 +02:00
parent 4a5c57c37e
commit 357e0792ea
12 changed files with 25896 additions and 50 deletions
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8
testbed/common/ConcaveMesh.cpp
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@ -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();

4
testbed/common/ConcaveMesh.h
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@ -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();

8
testbed/common/ConvexMesh.cpp
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@ -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();

4
testbed/common/ConvexMesh.h
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@ -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();

2
testbed/meshes/concavemesh.mtl → testbed/meshes/city.mtl
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@ -1,4 +1,4 @@
# Blender MTL File: 'concave_terrain.blend'
# Blender MTL File: 'None'
# Material Count: 1
newmtl None

25823
testbed/meshes/city.obj Normal file
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File diff suppressed because it is too large Load Diff

2
testbed/opengl-framework/src/maths/Vector3.h
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@ -164,7 +164,7 @@ class Vector3 {
Vector3 normalize() {
float l = length();
if(l < std::numeric_limits<float>::epsilon() ) {
assert(false);
return *this;
}
x /= l;
y /= l;

2
testbed/scenes/collisionshapes/CollisionShapesScene.cpp
View File

@ -221,7 +221,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name)
radius * 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]);

66
testbed/scenes/concavemesh/ConcaveMeshScene.cpp
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@ -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; i<NB_BOXES_X; i++) {
// Create a sphere and a corresponding rigid in the dynamics world
mBox = new Box(Vector3(3, 3, 3), spherePos, 80.1, mDynamicsWorld);
for (int j=0; j<NB_BOXES_Z; j++) {
// Set the sphere color
mBox->setColor(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; i<NB_BOXES_X * NB_BOXES_Z; i++) {
mDynamicsWorld->destroyRigidBody(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; i<NB_BOXES_X * NB_BOXES_Z; i++) {
mBoxes[i]->updateTransform(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; i<NB_BOXES_X * NB_BOXES_Z; i++) {
mBoxes[i]->render(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; i<NB_BOXES_X; i++) {
for (int j=0; j<NB_BOXES_Z; j++) {
// Position
rp3d::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);
rp3d::Transform boxTransform(boxPosition, rp3d::Quaternion::identity());
mBoxes[i * NB_BOXES_Z + j]->resetTransform(boxTransform);
}
}
}

6
testbed/scenes/concavemesh/ConcaveMeshScene.h
View File

@ -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;

17
testbed/scenes/heightfield/HeightFieldScene.cpp
View File

@ -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; i<NB_BOXES; i++) {
rp3d::Vector3 spherePos(-heightFieldWidth * 0.5f + i * stepDist , 14 + 6.0f * i, -heightFieldWidth * 0.5f + i * stepDist);
rp3d::Transform sphereTransform(spherePos, initOrientation);
mBoxes[i]->resetTransform(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);
}
}

4
testbed/scenes/raycast/RaycastScene.cpp
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@ -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);