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Add files for the joints example

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This commit is contained in:
Daniel Chappuis 2013-04-26 00:46:09 +02:00
parent fdda0b26a9
commit 434a168785
6 changed files with 411 additions and 234 deletions
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1
examples/CMakeLists.txt
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@ -3,3 +3,4 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
add_subdirectory(common/)
add_subdirectory(fallingcubes/)
add_subdirectory(joints/)

180
examples/fallingcubes/Box.cpp
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@ -1,180 +0,0 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 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 "Box.h"
// Macros
#define MEMBER_OFFSET(s,m) ((char *)NULL + (offsetof(s,m)))
// Initialize static variables
openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
openglframework::VertexBufferObject Box::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
bool Box::areVBOsCreated = false;
VertexData Box::mCubeVertices[8] = {
{openglframework::Vector3(1,1,1),openglframework::Vector3(1,1,1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(0,0,1,1)},
{openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(0,0,1,1)}
};
GLuint Box::mCubeIndices[36] = { 0, 1, 2,
2, 3, 0,
7, 4, 5,
5, 6, 7,
6, 5, 2,
2, 1, 6,
7, 0, 3,
3, 4, 7,
7, 6, 1,
1, 0, 7,
3, 2, 5,
5, 4, 3};
// Constructor
Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
: openglframework::Object3D() {
// Initialize the size of the box
mSize[0] = size.x * 0.5f;
mSize[1] = size.y * 0.5f;
mSize[2] = size.z * 0.5f;
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
0, mSize[1], 0, 0,
0, 0, mSize[2], 0,
0, 0, 0, 1);
// Initialize the position where the cube will be rendered
translateWorld(position);
// Create the collision shape for the rigid body (box shape)
mCollisionShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
// Compute the inertia tensor of the body using its collision shape
rp3d::Matrix3x3 inertiaTensor;
mCollisionShape->computeLocalInertiaTensor(inertiaTensor, mass);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Create a rigid body corresponding to the cube in the dynamics world
mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, mCollisionShape);
// If the Vertex Buffer object has not been created yet
if (!areVBOsCreated) {
// Create the Vertex Buffer
createVBO();
}
}
// Destructor
Box::~Box() {
// Destroy the collision shape
delete mCollisionShape;
}
// Render the cube at the correct position and with the correct orientation
void Box::render(openglframework::Shader& shader) {
// Bind the shader
shader.bind();
// Set the model to World matrix
shader.setMatrix4x4Uniform("modelToWorldMatrix", mTransformMatrix);
// Bind the vertices VBO
mVBOVertices.bind();
// Enable the vertex, normal and color arrays
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
// Set the arrays pointers
glVertexPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, position));
glNormalPointer(GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, normal));
glColorPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, color));
// Bind the indices VBO
mVBOIndices.bind();
// Draw the geometry of the box
glDrawElements(GL_TRIANGLES, 36, GL_UNSIGNED_INT, (char*)NULL);
// Unbind the VBOs
mVBOVertices.unbind();
mVBOIndices.unbind();
// Disable the arrays
glDisableClientState(GL_VERTEX_ARRAY);
glDisableClientState(GL_COLOR_ARRAY);
glDisableClientState(GL_NORMAL_ARRAY);
// Unbind the shader
shader.unbind();
}
// Update the transform matrix of the box
void Box::updateTransform() {
// Get the interpolated transform of the rigid body
rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
// Compute the transform used for rendering the box
float matrix[16];
transform.getOpenGLMatrix(matrix);
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
matrix[1], matrix[5], matrix[9], matrix[13],
matrix[2], matrix[6], matrix[10], matrix[14],
matrix[3], matrix[7], matrix[11], matrix[15]);
// Apply the scaling matrix to have the correct box dimensions
mTransformMatrix = newMatrix * mScalingMatrix;
}
// Create the Vertex Buffer Objects used to render to box with OpenGL.
/// We create two VBOs (one for vertices and one for indices) to render all the boxes
/// in the simulation.
void Box::createVBO() {
// Create the VBOs
mVBOVertices.create();
mVBOIndices.create();
// Copy the data into the VBOs
mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW);
mVBOIndices.copyDataIntoVBO(sizeof(mCubeIndices), mCubeIndices, GL_STATIC_DRAW);
areVBOsCreated = true;
}

17
examples/joints/CMakeLists.txt Normal file
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@ -0,0 +1,17 @@
# Minimum cmake version required
cmake_minimum_required(VERSION 2.6)
# Project configuration
PROJECT(Joints)
# Copy the shaders used for the demo into the build directory
FILE(COPY "../common/opengl-framework/src/shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/")
# Headers
INCLUDE_DIRECTORIES("../common/opengl-framework/src/" "../common/")
# Create the example executable using the
# compiled reactphysics3d static library
ADD_EXECUTABLE(joints Joints.cpp Scene.cpp Scene.h "../common/Box.cpp" "../common/Box.h" "../common/Viewer.cpp" "../common/Viewer.h")
TARGET_LINK_LIBRARIES(joints reactphysics3d openglframework)

151
examples/joints/Joints.cpp Normal file
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@ -0,0 +1,151 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 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 "Scene.h"
#include "Viewer.h"
// Declarations
void simulate();
void display();
void finish();
void reshape(int width, int height);
void mouseButton(int button, int state, int x, int y);
void mouseMotion(int x, int y);
void keyboard(unsigned char key, int x, int y);
void init();
// Namespaces
using namespace openglframework;
// Global variables
Viewer* viewer;
Scene* scene;
// Main function
int main(int argc, char** argv) {
// Create and initialize the Viewer
viewer = new Viewer();
Vector2 windowsSize = Vector2(800, 600);
Vector2 windowsPosition = Vector2(100, 100);
bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Joints", windowsSize, windowsPosition);
if (!initOK) return 1;
// Create the scene
scene = new Scene(viewer);
init();
// Glut Idle function that is continuously called
glutIdleFunc(simulate);
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutMouseFunc(mouseButton);
glutMotionFunc(mouseMotion);
glutKeyboardFunc(keyboard);
glutCloseFunc(finish);
// Glut main looop
glutMainLoop();
return 0;
}
// Simulate function
void simulate() {
// Physics simulation
scene->simulate();
viewer->computeFPS();
// Ask GLUT to render the scene
glutPostRedisplay ();
}
// Initialization
void init() {
// Define the background color (black)
glClearColor(0.0, 0.0, 0.0, 1.0);
}
// Reshape function
void reshape(int newWidth, int newHeight) {
viewer->reshape(newWidth, newHeight);
}
// Called when a mouse button event occurs
void mouseButton(int button, int state, int x, int y) {
viewer->mouseButtonEvent(button, state, x, y);
}
// Called when a mouse motion event occurs
void mouseMotion(int x, int y) {
viewer->mouseMotionEvent(x, y);
}
// Called when the user hits a special key on the keyboard
void keyboard(unsigned char key, int x, int y) {
switch(key) {
// Escape key
case 27:
glutLeaveMainLoop();
break;
// Space bar
case 32:
scene->pauseContinueSimulation();
break;
}
}
// End of the application
void finish() {
// Destroy the viewer and the scene
delete viewer;
delete scene;
}
// Display the scene
void display() {
// Render the scene
scene->render();
// Display the FPS
viewer->displayGUI();
// Swap the buffers
glutSwapBuffers();
// Check the OpenGL errors
GlutViewer::checkOpenGLErrors();
}

182
examples/joints/Scene.cpp Normal file
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@ -0,0 +1,182 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2013 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 "Scene.h"
// Namespaces
using namespace openglframework;
// Constructor
Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
mPhongShader("shaders/phong.vert",
"shaders/phong.frag"), mIsRunning(false) {
// Move the light 0
mLight0.translateWorld(Vector3(7, 15, 15));
// Compute the radius and the center of the scene
float radiusScene = 10.0f;
openglframework::Vector3 center(0, 5, 0);
// Set the center of the scene
mViewer->setScenePosition(center, radiusScene);
// Gravity vector in the dynamics world
rp3d::Vector3 gravity(0, -9.81, 0);
// Time step for the physics simulation
rp3d::decimal timeStep = 1.0f / 60.0f;
// Create the dynamics world for the physics simulation
mDynamicsWorld = new rp3d::DynamicsWorld(gravity, timeStep);
// Set the number of iterations of the constraint solver
mDynamicsWorld->setNbIterationsSolver(15);
float radius = 2.0f;
// Create all the cubes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Position of the cubes
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
1 + i * (BOX_SIZE.y + 0.3f),
radius * sin(angle));
// Create a cube and a corresponding rigid in the dynamics world
Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
// The box is a moving rigid body
cube->getRigidBody()->setIsMotionEnabled(true);
// Set the bouncing factor of the box
cube->getRigidBody()->setRestitution(0.4);
// Add the box the list of box in the scene
mBoxes.push_back(cube);
}
// Create the floor
openglframework::Vector3 floorPosition(0, 0, 0);
mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
// The floor must be a non-moving rigid body
mFloor->getRigidBody()->setIsMotionEnabled(false);
// Set the bouncing factor of the floor
mFloor->getRigidBody()->setRestitution(0.3);
// Start the simulation
startSimulation();
}
// Destructor
Scene::~Scene() {
// Stop the physics simulation
stopSimulation();
// Destroy the shader
mPhongShader.destroy();
// Destroy all the cubes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the cube
delete (*it);
}
// Destroy the rigid body of the floor
mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
// Destroy the floor
delete mFloor;
// Destroy the dynamics world
delete mDynamicsWorld;
}
// Take a step for the simulation
void Scene::simulate() {
// If the physics simulation is running
if (mIsRunning) {
// Take a simulation step
mDynamicsWorld->update();
// Update the position and orientation of the boxes
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
mFloor->updateTransform();
}
}
// Render the scene
void Scene::render() {
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_CULL_FACE);
// Bind the shader
mPhongShader.bind();
// Set the variables of the shader
const Camera& camera = mViewer->getCamera();
Matrix4 matrixIdentity;
matrixIdentity.setToIdentity();
mPhongShader.setVector3Uniform("cameraWorldPosition", mViewer->getCamera().getOrigin());
mPhongShader.setMatrix4x4Uniform("worldToCameraMatrix", camera.getTransformMatrix().getInverse());
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
mPhongShader.setVector3Uniform("lightWorldPosition", mLight0.getOrigin());
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
Color& diffCol = mLight0.getDiffuseColor();
Color& specCol = mLight0.getSpecularColor();
mPhongShader.setVector3Uniform("lightDiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
mPhongShader.setVector3Uniform("lightSpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
mPhongShader.setFloatUniform("shininess", 60.0f);
// Render all the cubes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
(*it)->render(mPhongShader);
}
// Render the floor
mFloor->render(mPhongShader);
// Unbind the shader
mPhongShader.unbind();
}

114
examples/fallingcubes/Box.h → examples/joints/Scene.h
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@ -23,89 +23,95 @@
* *
********************************************************************************/
#ifndef BOX_H
#define BOX_H
#ifndef SCENE_H
#define SCENE_H
// Libraries
#include "openglframework.h"
#include "reactphysics3d.h"
#include "Box.h"
// Structure VertexData
struct VertexData {
// Constants
const int NB_BOXES = 20; // Number of boxes in the scene
const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters
const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20); // Floor dimensions in meters
const float BOX_MASS = 1.0f; // Box mass in kilograms
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
/// Vertex position
openglframework::Vector3 position;
/// Vertex normal
openglframework::Vector3 normal;
// Vertex color
openglframework::Color color;
};
// Class Box
class Box : public openglframework::Object3D {
// Class Scene
class Scene {
private :
// -------------------- Attributes -------------------- //
/// Size of each side of the box
float mSize[3];
// Pointer to the viewer
openglframework::GlutViewer* mViewer;
/// Rigid body used to simulate the dynamics of the box
rp3d::RigidBody* mRigidBody;
// Light 0
openglframework::Light mLight0;
/// Collision shape of the rigid body
rp3d::BoxShape* mCollisionShape;
// Phong shader
openglframework::Shader mPhongShader;
/// Scaling matrix (applied to a cube to obtain the correct box dimensions)
openglframework::Matrix4 mScalingMatrix;
/// All the boxes of the scene
std::vector<Box*> mBoxes;
/// Vertex Buffer Object for the vertices data used to render the box with OpenGL
static openglframework::VertexBufferObject mVBOVertices;
/// Box for the floor
Box* mFloor;
/// Vertex Buffer Object for the indices used to render the box with OpenGL
static openglframework::VertexBufferObject mVBOIndices;
/// Dynamics world used for the physics simulation
rp3d::DynamicsWorld* mDynamicsWorld;
/// Vertex data for each vertex of the cube (used to render the box)
static VertexData mCubeVertices[8];
/// True if the physics simulation is running
bool mIsRunning;
/// Indices of the cube (used to render the box)
static GLuint mCubeIndices[36];
/// True if the VBOs have already been created
static bool areVBOsCreated;
// -------------------- Methods -------------------- //
/// Create a Vertex Buffer Object to render to box with OpenGL
static void createVBO();
public :
public:
// -------------------- Methods -------------------- //
/// Constructor
Box(const openglframework::Vector3& size, const openglframework::Vector3& position,
float mass, rp3d::DynamicsWorld* dynamicsWorld);
Scene(openglframework::GlutViewer* viewer);
/// Destructor
~Box();
~Scene();
/// Return a pointer to the rigid body of the box
rp3d::RigidBody* getRigidBody();
/// Take a step for the simulation
void simulate();
/// Update the transform matrix of the box
void updateTransform();
/// Stop the simulation
void stopSimulation();
/// Render the cube at the correct position and with the correct orientation
void render(openglframework::Shader& shader);
/// Start the simulation
void startSimulation();
/// Pause or continue simulation
void pauseContinueSimulation();
/// Render the scene
void render();
};
// Return a pointer to the rigid body of the box
inline rp3d::RigidBody* Box::getRigidBody() {
return mRigidBody;
// Stop the simulation
inline void Scene::stopSimulation() {
mDynamicsWorld->stop();
mIsRunning = false;
}
// Start the simulation
inline void Scene::startSimulation() {
mDynamicsWorld->start();
mIsRunning = true;
}
// Pause or continue simulation
inline void Scene::pauseContinueSimulation() {
if (mIsRunning) {
stopSimulation();
}
else {
startSimulation();
}
}
#endif