Add PhysicsCommon class and use it as a factory for other library objects and add pile demo in testbed application
This commit is contained in:
Daniel Chappuis
parent
8eacae4b7b
commit
45b02abaec
12
CHANGELOG.md
12
CHANGELOG.md
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@ -8,6 +8,16 @@
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- The CollisionWorld::testOverlap() methods do not have the 'categoryMaskBits' parameter anymore.
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- Many methods in the EventListener class have changed. Check the user manual for more information.
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- The way to retrieve contacts from a CollisionCallbackInfo object has changed. Check the user manual for more information.
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- Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape.
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- There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds.
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- An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method.
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- An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method.
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- An instance of the CapsuleShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createCapsuleShape() method.
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- An instance of the ConvexMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConvexMeshShape() method.
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- An instance of the HeightFieldShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createHeightFieldShape() method.
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- An instance of the ConcaveMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConcaveMeshShape() method.
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- An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method.
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- An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method.
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### Removed
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@ -24,7 +34,7 @@
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- Make possible for the user to get vertices, normals and triangle indices of a ConcaveMeshShape
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- Make possible for the user to get vertices and height values of the HeightFieldShape
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- Make possible for the user to use a custom single frame and pool memory allocator
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- Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library
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### Fixed
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@ -128,6 +128,7 @@ SET (REACTPHYSICS3D_HEADERS
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"src/engine/Entity.h"
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"src/engine/EntityManager.h"
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"src/engine/CollisionWorld.h"
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"src/engine/PhysicsCommon.h"
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"src/systems/ConstraintSolverSystem.h"
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"src/systems/ContactSolverSystem.h"
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"src/systems/DynamicsSystem.h"
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@ -228,6 +229,7 @@ SET (REACTPHYSICS3D_SOURCES
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"src/constraint/Joint.cpp"
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"src/constraint/SliderJoint.cpp"
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"src/engine/CollisionWorld.cpp"
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"src/engine/PhysicsCommon.cpp"
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"src/systems/ConstraintSolverSystem.cpp"
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"src/systems/ContactSolverSystem.cpp"
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"src/systems/DynamicsSystem.cpp"
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@ -36,10 +36,8 @@ using namespace reactphysics3d;
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* Create a polyhedron mesh given an array of polygons.
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* @param polygonVertexArray Pointer to the array of polygons and their vertices
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*/
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PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray)
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: mHalfEdgeStructure(MemoryManager::getBaseAllocator(),
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polygonVertexArray->getNbFaces(),
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polygonVertexArray->getNbVertices(),
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PolyhedronMesh::PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator &allocator)
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: mMemoryAllocator(allocator), mHalfEdgeStructure(allocator, polygonVertexArray->getNbFaces(), polygonVertexArray->getNbVertices(),
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(polygonVertexArray->getNbFaces() + polygonVertexArray->getNbVertices() - 2) * 2) {
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mPolygonVertexArray = polygonVertexArray;
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@ -76,7 +74,7 @@ void PolyhedronMesh::createHalfEdgeStructure() {
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// Get the polygon face
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PolygonVertexArray::PolygonFace* face = mPolygonVertexArray->getPolygonFace(f);
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List<uint> faceVertices(MemoryManager::getBaseAllocator(), face->nbVertices);
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List<uint> faceVertices(mMemoryAllocator, face->nbVertices);
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// For each vertex of the face
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for (uint v=0; v < face->nbVertices; v++) {
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@ -47,6 +47,9 @@ class PolyhedronMesh {
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// -------------------- Attributes -------------------- //
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/// Reference to the memory allocator
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MemoryAllocator& mMemoryAllocator;
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/// Pointer the the polygon vertex array with vertices and faces
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/// of the mesh
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PolygonVertexArray* mPolygonVertexArray;
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@ -62,6 +65,9 @@ class PolyhedronMesh {
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// -------------------- Methods -------------------- //
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/// Constructor
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PolyhedronMesh(PolygonVertexArray* polygonVertexArray, MemoryAllocator& allocator);
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/// Create the half-edge structure of the mesh
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void createHalfEdgeStructure();
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@ -75,9 +81,6 @@ class PolyhedronMesh {
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// -------------------- Methods -------------------- //
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/// Constructor
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PolyhedronMesh(PolygonVertexArray* polygonVertexArray);
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/// Destructor
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~PolyhedronMesh();
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@ -98,6 +101,10 @@ class PolyhedronMesh {
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/// Return the centroid of the polyhedron
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Vector3 getCentroid() const;
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// ---------- Friendship ---------- //
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friend class PhysicsCommon;
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};
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// Return the number of vertices
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@ -25,12 +25,15 @@
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// Libraries
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#include "TriangleMesh.h"
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#include "memory/MemoryManager.h"
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using namespace reactphysics3d;
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// Constructor
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TriangleMesh::TriangleMesh()
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: mTriangleArrays(MemoryManager::getBaseAllocator()) {
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TriangleMesh::TriangleMesh(MemoryAllocator& allocator) : mTriangleArrays(allocator) {
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}
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// Destructor
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TriangleMesh::~TriangleMesh() {
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}
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@ -29,12 +29,12 @@
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// Libraries
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#include <cassert>
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#include "containers/List.h"
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#include "memory/MemoryAllocator.h"
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namespace reactphysics3d {
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// Declarations
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class TriangleVertexArray;
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class MemoryManager;
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// Class TriangleMesh
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/**
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@ -51,13 +51,13 @@ class TriangleMesh {
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/// All the triangle arrays of the mesh (one triangle array per part)
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List<TriangleVertexArray*> mTriangleArrays;
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/// Constructor
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TriangleMesh(reactphysics3d::MemoryAllocator& allocator);
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public:
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/// Constructor
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TriangleMesh();
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/// Destructor
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~TriangleMesh() = default;
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~TriangleMesh();
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/// Add a subpart of the mesh
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void addSubpart(TriangleVertexArray* triangleVertexArray);
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@ -67,6 +67,11 @@ class TriangleMesh {
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/// Return the number of subparts of the mesh
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uint getNbSubparts() const;
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// ---------- Friendship ---------- //
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friend class PhysicsCommon;
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};
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// Add a subpart of the mesh
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@ -37,9 +37,9 @@ using namespace reactphysics3d;
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/**
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* @param extent The vector with the three extents of the box (in meters)
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*/
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BoxShape::BoxShape(const Vector3& extent)
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BoxShape::BoxShape(const Vector3& extent, MemoryAllocator& allocator)
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: ConvexPolyhedronShape(CollisionShapeName::BOX), mExtent(extent),
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mHalfEdgeStructure(MemoryManager::getBaseAllocator(), 6, 8, 24) {
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mHalfEdgeStructure(allocator, 6, 8, 24) {
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assert(extent.x > decimal(0.0));
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assert(extent.y > decimal(0.0));
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@ -55,8 +55,6 @@ BoxShape::BoxShape(const Vector3& extent)
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mHalfEdgeStructure.addVertex(6);
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mHalfEdgeStructure.addVertex(7);
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MemoryAllocator& allocator = MemoryManager::getBaseAllocator();
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// Faces
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List<uint> face0(allocator, 4);
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face0.add(0); face0.add(1); face0.add(2); face0.add(3);
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@ -58,6 +58,9 @@ class BoxShape : public ConvexPolyhedronShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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BoxShape(const Vector3& extent, MemoryAllocator& allocator);
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/// Return a local support point in a given direction without the object margin
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virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
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@ -70,16 +73,13 @@ class BoxShape : public ConvexPolyhedronShape {
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const override;
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/// Destructor
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virtual ~BoxShape() override = default;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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BoxShape(const Vector3& extent);
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/// Destructor
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virtual ~BoxShape() override = default;
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/// Deleted copy-constructor
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BoxShape(const BoxShape& shape) = delete;
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@ -124,6 +124,10 @@ class BoxShape : public ConvexPolyhedronShape {
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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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// ----- Friendship ----- //
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friend class PhysicsCommon;
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};
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// Return the extents of the box
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@ -57,6 +57,9 @@ class CapsuleShape : public ConvexShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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CapsuleShape(decimal radius, decimal height);
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/// Return a local support point in a given direction without the object margin
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virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
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@ -74,16 +77,13 @@ class CapsuleShape : public ConvexShape {
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const override;
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/// Destructor
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virtual ~CapsuleShape() override = default;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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CapsuleShape(decimal radius, decimal height);
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/// Destructor
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virtual ~CapsuleShape() override = default;
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/// Deleted copy-constructor
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CapsuleShape(const CapsuleShape& shape) = delete;
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@ -107,6 +107,10 @@ class CapsuleShape : public ConvexShape {
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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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// ----- Friendship ----- //
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friend class PhysicsCommon;
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};
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// Get the radius of the capsule
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@ -34,9 +34,9 @@
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using namespace reactphysics3d;
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// Constructor
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ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling)
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ConcaveMeshShape::ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling)
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// TODO : Do not use the default base allocator here
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: ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(MemoryManager::getBaseAllocator()),
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: ConcaveShape(CollisionShapeName::TRIANGLE_MESH), mDynamicAABBTree(allocator),
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mScaling(scaling) {
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mTriangleMesh = triangleMesh;
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mRaycastTestType = TriangleRaycastSide::FRONT;
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@ -146,6 +146,9 @@ class ConcaveMeshShape : public ConcaveShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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ConcaveMeshShape(TriangleMesh* triangleMesh, MemoryAllocator& allocator, const Vector3& scaling = Vector3(1, 1, 1));
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override;
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@ -169,14 +172,11 @@ class ConcaveMeshShape : public ConcaveShape {
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List<Vector3> &triangleVerticesNormals, List<uint>& shapeIds,
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MemoryAllocator& allocator) const override;
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public:
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/// Constructor
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ConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1));
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/// Destructor
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virtual ~ConcaveMeshShape() override = default;
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public:
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/// Deleted copy-constructor
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ConcaveMeshShape(const ConcaveMeshShape& shape) = delete;
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@ -215,6 +215,7 @@ class ConcaveMeshShape : public ConcaveShape {
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friend class ConvexTriangleAABBOverlapCallback;
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friend class ConcaveMeshRaycastCallback;
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friend class PhysicsCommon;
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};
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// Return the number of bytes used by the collision shape
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@ -66,6 +66,9 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1));
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/// Recompute the bounds of the mesh
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void recalculateBounds();
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@ -81,16 +84,13 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const override;
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/// Destructor
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virtual ~ConvexMeshShape() override = default;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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ConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1));
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/// Destructor
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virtual ~ConvexMeshShape() override = default;
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/// Deleted copy-constructor
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ConvexMeshShape(const ConvexMeshShape& shape) = delete;
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@ -135,6 +135,10 @@ class ConvexMeshShape : public ConvexPolyhedronShape {
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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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// ----- Friendship ----- //
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friend class PhysicsCommon;
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};
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// Return the number of bytes used by the collision shape
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@ -96,6 +96,12 @@ class HeightFieldShape : public ConcaveShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
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const void* heightFieldData, HeightDataType dataType,
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int upAxis = 1, decimal integerHeightScale = 1.0f,
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const Vector3& scaling = Vector3(1,1,1));
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/// Raycast method with feedback information
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virtual bool raycast(const Ray& ray, RaycastInfo& raycastInfo, ProxyShape* proxyShape, MemoryAllocator& allocator) const override;
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@ -119,17 +125,11 @@ class HeightFieldShape : public ConcaveShape {
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/// Compute the shape Id for a given triangle
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uint computeTriangleShapeId(uint iIndex, uint jIndex, uint secondTriangleIncrement) const;
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public:
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/// Constructor
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HeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
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const void* heightFieldData, HeightDataType dataType,
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int upAxis = 1, decimal integerHeightScale = 1.0f,
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const Vector3& scaling = Vector3(1,1,1));
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/// Destructor
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virtual ~HeightFieldShape() override = default;
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public:
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/// Deleted copy-constructor
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HeightFieldShape(const HeightFieldShape& shape) = delete;
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@ -172,6 +172,7 @@ class HeightFieldShape : public ConcaveShape {
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friend class ConvexTriangleAABBOverlapCallback;
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friend class ConcaveMeshRaycastCallback;
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friend class PhysicsCommon;
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};
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// Return the scaling factor
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@ -50,6 +50,9 @@ class SphereShape : public ConvexShape {
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// -------------------- Methods -------------------- //
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/// Constructor
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SphereShape(decimal radius);
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/// Return a local support point in a given direction without the object margin
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virtual Vector3 getLocalSupportPointWithoutMargin(const Vector3& direction) const override;
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@ -62,16 +65,13 @@ class SphereShape : public ConvexShape {
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/// Return the number of bytes used by the collision shape
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virtual size_t getSizeInBytes() const override;
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/// Destructor
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virtual ~SphereShape() override = default;
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public :
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// -------------------- Methods -------------------- //
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/// Constructor
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SphereShape(decimal radius);
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/// Destructor
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virtual ~SphereShape() override = default;
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/// Deleted copy-constructor
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SphereShape(const SphereShape& shape) = delete;
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@ -95,6 +95,10 @@ class SphereShape : public ConvexShape {
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/// Return the string representation of the shape
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virtual std::string to_string() const override;
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// ----- Friendship ----- //
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friend class PhysicsCommon;
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};
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// Get the radius of the sphere
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@ -107,10 +107,6 @@ class TriangleShape : public ConvexPolyhedronShape {
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const Transform& worldToOtherShapeTransform, decimal penetrationDepth, bool isTriangleShape1,
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Vector3& outNewLocalContactPointOtherShape, Vector3& outSmoothWorldContactTriangleNormal) const;
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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TriangleShape(const Vector3* vertices, const Vector3* verticesNormals,
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uint shapeId, MemoryAllocator& allocator);
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@ -118,6 +114,10 @@ class TriangleShape : public ConvexPolyhedronShape {
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/// Destructor
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virtual ~TriangleShape() override = default;
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public:
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// -------------------- Methods -------------------- //
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|
||||
/// Deleted copy-constructor
|
||||
TriangleShape(const TriangleShape& shape) = delete;
|
||||
|
||||
|
|
@ -181,6 +181,7 @@ class TriangleShape : public ConvexPolyhedronShape {
|
|||
friend class TriangleOverlapCallback;
|
||||
friend class MiddlePhaseTriangleCallback;
|
||||
friend class HeightFieldShape;
|
||||
friend class CollisionDetectionSystem;
|
||||
};
|
||||
|
||||
// Return the number of bytes used by the collision shape
|
||||
|
|
|
|||
|
|
@ -36,8 +36,8 @@ using namespace std;
|
|||
uint CollisionWorld::mNbWorlds = 0;
|
||||
|
||||
// Constructor
|
||||
CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler)
|
||||
: mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()),
|
||||
CollisionWorld::CollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler, MemoryAllocator* baseMemoryAllocator)
|
||||
: mMemoryManager(baseMemoryAllocator), mConfig(worldSettings), mEntityManager(mMemoryManager.getPoolAllocator()),
|
||||
mCollisionBodyComponents(mMemoryManager.getBaseAllocator()), mRigidBodyComponents(mMemoryManager.getBaseAllocator()),
|
||||
mTransformComponents(mMemoryManager.getBaseAllocator()), mProxyShapesComponents(mMemoryManager.getBaseAllocator()),
|
||||
mJointsComponents(mMemoryManager.getBaseAllocator()), mBallAndSocketJointsComponents(mMemoryManager.getBaseAllocator()),
|
||||
|
|
|
|||
|
|
@ -143,23 +143,23 @@ class CollisionWorld {
|
|||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
|
||||
Profiler* profiler = nullptr, MemoryAllocator* baseMemoryAllocator = nullptr);
|
||||
|
||||
/// Notify the world if a body is disabled (slepping or inactive) or not
|
||||
void setBodyDisabled(Entity entity, bool isDisabled);
|
||||
|
||||
/// Notify the world whether a joint is disabled or not
|
||||
void setJointDisabled(Entity jointEntity, bool isDisabled);
|
||||
|
||||
/// Destructor
|
||||
virtual ~CollisionWorld();
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
CollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
|
||||
Profiler* profiler = nullptr);
|
||||
|
||||
/// Destructor
|
||||
virtual ~CollisionWorld();
|
||||
|
||||
/// Deleted copy-constructor
|
||||
CollisionWorld(const CollisionWorld& world) = delete;
|
||||
|
||||
|
|
@ -221,6 +221,7 @@ class CollisionWorld {
|
|||
|
||||
// -------------------- Friendship -------------------- //
|
||||
|
||||
friend class PhysicsCommon;
|
||||
friend class CollisionDetectionSystem;
|
||||
friend class CollisionBody;
|
||||
friend class RigidBody;
|
||||
|
|
|
|||
|
|
@ -520,7 +520,7 @@ void DynamicsWorld::createIslands() {
|
|||
|
||||
uint nbTotalManifolds = 0;
|
||||
|
||||
// For each dynamic component
|
||||
// For each rigid body component
|
||||
for (uint b=0; b < mRigidBodyComponents.getNbEnabledComponents(); b++) {
|
||||
|
||||
// If the body has already been added to an island, we go to the next body
|
||||
|
|
|
|||
|
|
@ -100,6 +100,10 @@ class DynamicsWorld : public CollisionWorld {
|
|||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(),
|
||||
Logger* logger = nullptr, Profiler* profiler = nullptr);
|
||||
|
||||
/// Solve the contacts and constraints
|
||||
void solveContactsAndConstraints(decimal timeStep);
|
||||
|
||||
|
|
@ -118,17 +122,13 @@ class DynamicsWorld : public CollisionWorld {
|
|||
/// Add the joint to the list of joints of the two bodies involved in the joint
|
||||
void addJointToBodies(Entity body1, Entity body2, Entity joint);
|
||||
|
||||
/// Destructor
|
||||
virtual ~DynamicsWorld() override;
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
DynamicsWorld(const Vector3& mGravity, const WorldSettings& worldSettings = WorldSettings(),
|
||||
Logger* logger = nullptr, Profiler* profiler = nullptr);
|
||||
|
||||
/// Destructor
|
||||
virtual ~DynamicsWorld() override;
|
||||
|
||||
/// Deleted copy-constructor
|
||||
DynamicsWorld(const DynamicsWorld& world) = delete;
|
||||
|
||||
|
|
@ -212,6 +212,7 @@ class DynamicsWorld : public CollisionWorld {
|
|||
|
||||
// -------------------- Friendship -------------------- //
|
||||
|
||||
friend class PhysicsCommon;
|
||||
friend class RigidBody;
|
||||
friend class Joint;
|
||||
friend class BallAndSocketJoint;
|
||||
|
|
|
|||
340
src/engine/PhysicsCommon.cpp
Normal file
340
src/engine/PhysicsCommon.cpp
Normal file
|
|
@ -0,0 +1,340 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
||||
* Copyright (c) 2010-2019 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 "PhysicsCommon.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
/// Constructor
|
||||
PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
: mMemoryManager(baseMemoryAllocator), mCollisionWorlds(mMemoryManager.getPoolAllocator()),
|
||||
mDynamicsWorlds(mMemoryManager.getPoolAllocator()), mSphereShapes(mMemoryManager.getPoolAllocator()),
|
||||
mBoxShapes(mMemoryManager.getPoolAllocator()), mCapsuleShapes(mMemoryManager.getPoolAllocator()),
|
||||
mConvexMeshShapes(mMemoryManager.getPoolAllocator()), mConcaveMeshShapes(mMemoryManager.getPoolAllocator()),
|
||||
mHeightFieldShapes(mMemoryManager.getPoolAllocator()), mPolyhedronMeshes(mMemoryManager.getPoolAllocator()),
|
||||
mTriangleMeshes(mMemoryManager.getPoolAllocator()) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
PhysicsCommon::~PhysicsCommon() {
|
||||
|
||||
// Release the allocated memory
|
||||
release();
|
||||
}
|
||||
|
||||
// Destroy and release everything that has been allocated
|
||||
void PhysicsCommon::release() {
|
||||
|
||||
// Destroy the collision worlds
|
||||
for (auto it = mCollisionWorlds.begin(); it != mCollisionWorlds.end(); ++it) {
|
||||
destroyCollisionWorld(*it);
|
||||
}
|
||||
|
||||
// Destroy the dynamics worlds
|
||||
for (auto it = mDynamicsWorlds.begin(); it != mDynamicsWorlds.end(); ++it) {
|
||||
destroyDynamicsWorld(*it);
|
||||
}
|
||||
|
||||
// Destroy the sphere shapes
|
||||
for (auto it = mSphereShapes.begin(); it != mSphereShapes.end(); ++it) {
|
||||
destroySphereShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the box shapes
|
||||
for (auto it = mBoxShapes.begin(); it != mBoxShapes.end(); ++it) {
|
||||
destroyBoxShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the capsule shapes
|
||||
for (auto it = mCapsuleShapes.begin(); it != mCapsuleShapes.end(); ++it) {
|
||||
destroyCapsuleShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the convex mesh shapes
|
||||
for (auto it = mConvexMeshShapes.begin(); it != mConvexMeshShapes.end(); ++it) {
|
||||
destroyConvexMeshShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the heigh-field shapes
|
||||
for (auto it = mHeightFieldShapes.begin(); it != mHeightFieldShapes.end(); ++it) {
|
||||
destroyHeightFieldShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the concave mesh shapes
|
||||
for (auto it = mConcaveMeshShapes.begin(); it != mConcaveMeshShapes.end(); ++it) {
|
||||
destroyConcaveMeshShape(*it);
|
||||
}
|
||||
|
||||
// Destroy the polyhedron mesh
|
||||
for (auto it = mPolyhedronMeshes.begin(); it != mPolyhedronMeshes.end(); ++it) {
|
||||
destroyPolyhedronMesh(*it);
|
||||
}
|
||||
|
||||
// Destroy the triangle mesh
|
||||
for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) {
|
||||
destroyTriangleMesh(*it);
|
||||
}
|
||||
}
|
||||
|
||||
// Create and return an instance of CollisionWorld
|
||||
CollisionWorld* PhysicsCommon::createCollisionWorld(const WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
|
||||
|
||||
// TODO : Allocate in heap allocator here instead of pool
|
||||
CollisionWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CollisionWorld))) CollisionWorld(worldSettings, logger, profiler);
|
||||
mCollisionWorlds.add(world);
|
||||
|
||||
return world;
|
||||
}
|
||||
|
||||
// Destroy an instance of CollisionWorld
|
||||
void PhysicsCommon::destroyCollisionWorld(CollisionWorld* world) {
|
||||
|
||||
// Call the destructor of the world
|
||||
world->~CollisionWorld();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(CollisionWorld));
|
||||
|
||||
mCollisionWorlds.remove(world);
|
||||
}
|
||||
|
||||
// Create and return an instance of DynamicsWorld
|
||||
DynamicsWorld* PhysicsCommon::createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings,
|
||||
Logger* logger, Profiler* profiler) {
|
||||
|
||||
// TODO : Allocate in heap allocator here instead of pool
|
||||
DynamicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(DynamicsWorld))) DynamicsWorld(gravity, worldSettings, logger, profiler);
|
||||
|
||||
mDynamicsWorlds.add(world);
|
||||
|
||||
return world;
|
||||
}
|
||||
|
||||
// Destroy an instance of DynamicsWorld
|
||||
DynamicsWorld* PhysicsCommon::destroyDynamicsWorld(DynamicsWorld* world) {
|
||||
|
||||
// Call the destructor of the world
|
||||
world->~DynamicsWorld();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, world, sizeof(DynamicsWorld));
|
||||
|
||||
mDynamicsWorlds.remove(world);
|
||||
}
|
||||
|
||||
// Create and return a sphere collision shape
|
||||
SphereShape* PhysicsCommon::createSphereShape(const decimal radius) {
|
||||
|
||||
SphereShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(SphereShape))) SphereShape(radius);
|
||||
mSphereShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a sphere collision shape
|
||||
void PhysicsCommon::destroySphereShape(SphereShape* sphereShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
sphereShape->~SphereShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, sphereShape, sizeof(SphereShape));
|
||||
|
||||
mSphereShapes.remove(sphereShape);
|
||||
}
|
||||
|
||||
// Create and return a box collision shape
|
||||
BoxShape* PhysicsCommon::createBoxShape(const Vector3& extent) {
|
||||
|
||||
// TODO : Pass heap allocator here in parameter
|
||||
BoxShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(BoxShape))) BoxShape(extent, mMemoryManager.getPoolAllocator());
|
||||
|
||||
mBoxShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a box collision shape
|
||||
void PhysicsCommon::destroyBoxShape(BoxShape* boxShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
boxShape->~BoxShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, boxShape, sizeof(BoxShape));
|
||||
|
||||
mBoxShapes.remove(boxShape);
|
||||
}
|
||||
|
||||
// Create and return a capsule shape
|
||||
CapsuleShape* PhysicsCommon::createCapsuleShape(decimal radius, decimal height) {
|
||||
|
||||
CapsuleShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(CapsuleShape))) CapsuleShape(radius, height);
|
||||
|
||||
mCapsuleShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a capsule collision shape
|
||||
void PhysicsCommon::destroyCapsuleShape(CapsuleShape* capsuleShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
capsuleShape->~CapsuleShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, capsuleShape, sizeof(CapsuleShape));
|
||||
|
||||
mCapsuleShapes.remove(capsuleShape);
|
||||
}
|
||||
|
||||
// Create and return a convex mesh shape
|
||||
ConvexMeshShape* PhysicsCommon::createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling) {
|
||||
|
||||
ConvexMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConvexMeshShape))) ConvexMeshShape(polyhedronMesh, scaling);
|
||||
|
||||
mConvexMeshShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a convex mesh shape
|
||||
void PhysicsCommon::destroyConvexMeshShape(ConvexMeshShape* convexMeshShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
convexMeshShape->~ConvexMeshShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, convexMeshShape, sizeof(ConvexMeshShape));
|
||||
|
||||
mConvexMeshShapes.remove(convexMeshShape);
|
||||
}
|
||||
|
||||
// Create and return a height-field shape
|
||||
HeightFieldShape* PhysicsCommon::createHeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
|
||||
const void* heightFieldData, HeightFieldShape::HeightDataType dataType,
|
||||
int upAxis, decimal integerHeightScale, const Vector3& scaling) {
|
||||
|
||||
HeightFieldShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(HeightFieldShape))) HeightFieldShape(nbGridColumns, nbGridRows, minHeight, maxHeight,
|
||||
heightFieldData, dataType, upAxis, integerHeightScale, scaling);
|
||||
|
||||
mHeightFieldShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a height-field shape
|
||||
void PhysicsCommon::destroyHeightFieldShape(HeightFieldShape* heightFieldShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
heightFieldShape->~HeightFieldShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, heightFieldShape, sizeof(HeightFieldShape));
|
||||
|
||||
mHeightFieldShapes.remove(heightFieldShape);
|
||||
}
|
||||
|
||||
// Create and return a concave mesh shape
|
||||
ConcaveMeshShape* PhysicsCommon::createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling) {
|
||||
|
||||
// TODO : Pass heap allocator here in parameter
|
||||
ConcaveMeshShape* shape = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(ConcaveMeshShape))) ConcaveMeshShape(triangleMesh, mMemoryManager.getPoolAllocator(), scaling);
|
||||
|
||||
mConcaveMeshShapes.add(shape);
|
||||
|
||||
return shape;
|
||||
}
|
||||
|
||||
// Destroy a concave mesh shape
|
||||
void PhysicsCommon::destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
concaveMeshShape->~ConcaveMeshShape();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, concaveMeshShape, sizeof(ConcaveMeshShape));
|
||||
|
||||
mConcaveMeshShapes.remove(concaveMeshShape);
|
||||
}
|
||||
|
||||
// Create a polyhedron mesh
|
||||
PolyhedronMesh* PhysicsCommon::createPolyhedronMesh(PolygonVertexArray* polygonVertexArray) {
|
||||
|
||||
// TODO : Pass heap allocator here in parameter
|
||||
PolyhedronMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(PolyhedronMesh))) PolyhedronMesh(polygonVertexArray, mMemoryManager.getPoolAllocator());
|
||||
|
||||
mPolyhedronMeshes.add(mesh);
|
||||
|
||||
return mesh;
|
||||
}
|
||||
|
||||
// Destroy a polyhedron mesh
|
||||
void PhysicsCommon::destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
polyhedronMesh->~PolyhedronMesh();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, polyhedronMesh, sizeof(PolyhedronMesh));
|
||||
|
||||
mPolyhedronMeshes.remove(polyhedronMesh);
|
||||
}
|
||||
|
||||
// Create a triangle mesh
|
||||
TriangleMesh* PhysicsCommon::createTriangleMesh() {
|
||||
|
||||
// TODO : Pass heap allocator here in parameter
|
||||
TriangleMesh* mesh = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(TriangleMesh))) TriangleMesh(mMemoryManager.getPoolAllocator());
|
||||
|
||||
mTriangleMeshes.add(mesh);
|
||||
|
||||
return mesh;
|
||||
}
|
||||
|
||||
// Destroy a triangle mesh
|
||||
void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) {
|
||||
|
||||
// Call the destructor of the shape
|
||||
triangleMesh->~TriangleMesh();
|
||||
|
||||
// Release allocated memory
|
||||
// TODO : Use Heap allocator for internal Sets<> here instead of Pool allocator
|
||||
mMemoryManager.release(MemoryManager::AllocationType::Pool, triangleMesh, sizeof(TriangleMesh));
|
||||
|
||||
mTriangleMeshes.remove(triangleMesh);
|
||||
}
|
||||
175
src/engine/PhysicsCommon.h
Normal file
175
src/engine/PhysicsCommon.h
Normal file
|
|
@ -0,0 +1,175 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
||||
* Copyright (c) 2010-2019 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 REACTPHYSICS3D_PHYSICS_COMMON_H
|
||||
#define REACTPHYSICS3D_PHYSICS_COMMON_H
|
||||
|
||||
// Libraries
|
||||
#include "memory/MemoryManager.h"
|
||||
#include "engine/CollisionWorld.h"
|
||||
#include "engine/DynamicsWorld.h"
|
||||
#include "collision/shapes/SphereShape.h"
|
||||
#include "collision/shapes/BoxShape.h"
|
||||
#include "collision/shapes/CapsuleShape.h"
|
||||
#include "collision/shapes/HeightFieldShape.h"
|
||||
#include "collision/shapes/ConvexMeshShape.h"
|
||||
#include "collision/shapes/ConcaveMeshShape.h"
|
||||
#include "collision/TriangleMesh.h"
|
||||
|
||||
/// ReactPhysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
||||
// Class PhysicsCommon
|
||||
/**
|
||||
* This class is a singleton that needs to be instanciated once at the beginning.
|
||||
* Then this class is used by the user as a factory to create the physics world and
|
||||
* other objects.
|
||||
*/
|
||||
class PhysicsCommon {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Memory manager
|
||||
MemoryManager mMemoryManager;
|
||||
|
||||
/// Set of collision worlds
|
||||
Set<CollisionWorld*> mCollisionWorlds;
|
||||
|
||||
/// Set of dynamics worlds
|
||||
Set<DynamicsWorld*> mDynamicsWorlds;
|
||||
|
||||
/// Set of sphere shapes
|
||||
Set<SphereShape*> mSphereShapes;
|
||||
|
||||
/// Set of box shapes
|
||||
Set<BoxShape*> mBoxShapes;
|
||||
|
||||
/// Set of capsule shapes
|
||||
Set<CapsuleShape*> mCapsuleShapes;
|
||||
|
||||
/// Set of convex mesh shapes
|
||||
Set<ConvexMeshShape*> mConvexMeshShapes;
|
||||
|
||||
/// Set of concave mesh shapes
|
||||
Set<ConcaveMeshShape*> mConcaveMeshShapes;
|
||||
|
||||
/// Set of height field shapes
|
||||
Set<HeightFieldShape*> mHeightFieldShapes;
|
||||
|
||||
/// Set of polyhedron meshes
|
||||
Set<PolyhedronMesh*> mPolyhedronMeshes;
|
||||
|
||||
/// Set of triangle meshes
|
||||
Set<TriangleMesh*> mTriangleMeshes;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Destroy and release everything that has been allocated
|
||||
void release();
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
/**
|
||||
* @param baseMemoryAllocator Pointer to a user custom memory allocator
|
||||
*/
|
||||
PhysicsCommon(MemoryAllocator* baseMemoryAllocator = nullptr);
|
||||
|
||||
/// Destructor
|
||||
~PhysicsCommon();
|
||||
|
||||
/// Create and return an instance of CollisionWorld
|
||||
CollisionWorld* createCollisionWorld(const WorldSettings& worldSettings = WorldSettings(), Logger* logger = nullptr,
|
||||
Profiler* profiler = nullptr);
|
||||
|
||||
/// Destroy an instance of CollisionWorld
|
||||
void destroyCollisionWorld(CollisionWorld* world);
|
||||
|
||||
/// Create and return an instance of DynamicsWorld
|
||||
DynamicsWorld* createDynamicsWorld(const Vector3& gravity, const WorldSettings& worldSettings = WorldSettings(),
|
||||
Logger* logger = nullptr, Profiler* profiler = nullptr);
|
||||
|
||||
/// Destroy an instance of DynamicsWorld
|
||||
DynamicsWorld* destroyDynamicsWorld(DynamicsWorld* world);
|
||||
|
||||
/// Create and return a sphere collision shape
|
||||
SphereShape* createSphereShape(const decimal radius);
|
||||
|
||||
/// Destroy a sphere collision shape
|
||||
void destroySphereShape(SphereShape* sphereShape);
|
||||
|
||||
/// Create and return a box collision shape
|
||||
BoxShape* createBoxShape(const Vector3& extent);
|
||||
|
||||
/// Destroy a box collision shape
|
||||
void destroyBoxShape(BoxShape* boxShape);
|
||||
|
||||
/// Create and return a capsule shape
|
||||
CapsuleShape* createCapsuleShape(decimal radius, decimal height);
|
||||
|
||||
/// Destroy a capsule collision shape
|
||||
void destroyCapsuleShape(CapsuleShape* capsuleShape);
|
||||
|
||||
/// Create and return a convex mesh shape
|
||||
ConvexMeshShape* createConvexMeshShape(PolyhedronMesh* polyhedronMesh, const Vector3& scaling = Vector3(1,1,1));
|
||||
|
||||
/// Destroy a convex mesh shape
|
||||
void destroyConvexMeshShape(ConvexMeshShape* convexMeshShape);
|
||||
|
||||
/// Create and return a height-field shape
|
||||
HeightFieldShape* createHeightFieldShape(int nbGridColumns, int nbGridRows, decimal minHeight, decimal maxHeight,
|
||||
const void* heightFieldData, HeightFieldShape::HeightDataType dataType,
|
||||
int upAxis = 1, decimal integerHeightScale = 1.0f,
|
||||
const Vector3& scaling = Vector3(1,1,1));
|
||||
|
||||
/// Destroy a height-field shape
|
||||
void destroyHeightFieldShape(HeightFieldShape* heightFieldShape);
|
||||
|
||||
/// Create and return a concave mesh shape
|
||||
ConcaveMeshShape* createConcaveMeshShape(TriangleMesh* triangleMesh, const Vector3& scaling = Vector3(1, 1, 1));
|
||||
|
||||
/// Destroy a concave mesh shape
|
||||
void destroyConcaveMeshShape(ConcaveMeshShape* concaveMeshShape);
|
||||
|
||||
/// Create a polyhedron mesh
|
||||
PolyhedronMesh* createPolyhedronMesh(PolygonVertexArray* polygonVertexArray);
|
||||
|
||||
/// Destroy a polyhedron mesh
|
||||
void destroyPolyhedronMesh(PolyhedronMesh* polyhedronMesh);
|
||||
|
||||
/// Create a triangle mesh
|
||||
TriangleMesh* createTriangleMesh();
|
||||
|
||||
/// Destroy a triangle mesh
|
||||
void destroyTriangleMesh(TriangleMesh* triangleMesh);
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -24,11 +24,14 @@
|
|||
********************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "MemoryManager.h"
|
||||
#include "memory/MemoryManager.h"
|
||||
|
||||
using namespace reactphysics3d;
|
||||
|
||||
// Static variables
|
||||
DefaultAllocator MemoryManager::mDefaultAllocator;
|
||||
MemoryAllocator* MemoryManager::mBaseAllocator = &mDefaultAllocator;
|
||||
// Constructor
|
||||
MemoryManager::MemoryManager(MemoryAllocator* baseAllocator) :
|
||||
mBaseAllocator(baseAllocator == nullptr ? &mDefaultAllocator : baseAllocator),
|
||||
mPoolAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator),
|
||||
mSingleFrameAllocator(baseAllocator == nullptr ? mDefaultAllocator : *baseAllocator) {
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -47,10 +47,10 @@ class MemoryManager {
|
|||
private:
|
||||
|
||||
/// Default malloc/free memory allocator
|
||||
static DefaultAllocator mDefaultAllocator;
|
||||
DefaultAllocator mDefaultAllocator;
|
||||
|
||||
/// Pointer to the base memory allocator to use
|
||||
static MemoryAllocator* mBaseAllocator;
|
||||
MemoryAllocator* mBaseAllocator;
|
||||
|
||||
/// Memory pool allocator
|
||||
PoolAllocator mPoolAllocator;
|
||||
|
|
@ -68,7 +68,7 @@ class MemoryManager {
|
|||
};
|
||||
|
||||
/// Constructor
|
||||
MemoryManager() = default;
|
||||
MemoryManager(MemoryAllocator* baseAllocator);
|
||||
|
||||
/// Destructor
|
||||
~MemoryManager() = default;
|
||||
|
|
@ -86,10 +86,10 @@ class MemoryManager {
|
|||
SingleFrameAllocator& getSingleFrameAllocator();
|
||||
|
||||
/// Return the base memory allocator
|
||||
static MemoryAllocator& getBaseAllocator();
|
||||
MemoryAllocator& getBaseAllocator();
|
||||
|
||||
/// Set the base memory allocator
|
||||
static void setBaseAllocator(MemoryAllocator* memoryAllocator);
|
||||
void setBaseAllocator(MemoryAllocator* memoryAllocator);
|
||||
|
||||
/// Reset the single frame allocator
|
||||
void resetFrameAllocator();
|
||||
|
|
|
|||
|
|
@ -37,13 +37,13 @@ size_t PoolAllocator::mUnitSizes[NB_HEAPS];
|
|||
int PoolAllocator::mMapSizeToHeapIndex[MAX_UNIT_SIZE + 1];
|
||||
|
||||
// Constructor
|
||||
PoolAllocator::PoolAllocator() {
|
||||
PoolAllocator::PoolAllocator(MemoryAllocator& baseAllocator) : mBaseAllocator(baseAllocator) {
|
||||
|
||||
// Allocate some memory to manage the blocks
|
||||
mNbAllocatedMemoryBlocks = 64;
|
||||
mNbCurrentMemoryBlocks = 0;
|
||||
const size_t sizeToAllocate = mNbAllocatedMemoryBlocks * sizeof(MemoryBlock);
|
||||
mMemoryBlocks = static_cast<MemoryBlock*>(MemoryManager::getBaseAllocator().allocate(sizeToAllocate));
|
||||
mMemoryBlocks = static_cast<MemoryBlock*>(baseAllocator.allocate(sizeToAllocate));
|
||||
memset(mMemoryBlocks, 0, sizeToAllocate);
|
||||
memset(mFreeMemoryUnits, 0, sizeof(mFreeMemoryUnits));
|
||||
|
||||
|
|
@ -83,10 +83,10 @@ PoolAllocator::~PoolAllocator() {
|
|||
|
||||
// Release the memory allocated for each block
|
||||
for (uint i=0; i<mNbCurrentMemoryBlocks; i++) {
|
||||
MemoryManager::getBaseAllocator().release(mMemoryBlocks[i].memoryUnits, BLOCK_SIZE);
|
||||
mBaseAllocator.release(mMemoryBlocks[i].memoryUnits, BLOCK_SIZE);
|
||||
}
|
||||
|
||||
MemoryManager::getBaseAllocator().release(mMemoryBlocks, mNbAllocatedMemoryBlocks * sizeof(MemoryBlock));
|
||||
mBaseAllocator.release(mMemoryBlocks, mNbAllocatedMemoryBlocks * sizeof(MemoryBlock));
|
||||
|
||||
#ifndef NDEBUG
|
||||
// Check that the allocate() and release() methods have been called the same
|
||||
|
|
@ -113,7 +113,7 @@ void* PoolAllocator::allocate(size_t size) {
|
|||
if (size > MAX_UNIT_SIZE) {
|
||||
|
||||
// Allocate memory using default allocation
|
||||
return MemoryManager::getBaseAllocator().allocate(size);
|
||||
return mBaseAllocator.allocate(size);
|
||||
}
|
||||
|
||||
// Get the index of the heap that will take care of the allocation request
|
||||
|
|
@ -136,16 +136,16 @@ void* PoolAllocator::allocate(size_t size) {
|
|||
// Allocate more memory to contain the blocks
|
||||
MemoryBlock* currentMemoryBlocks = mMemoryBlocks;
|
||||
mNbAllocatedMemoryBlocks += 64;
|
||||
mMemoryBlocks = static_cast<MemoryBlock*>(MemoryManager::getBaseAllocator().allocate(mNbAllocatedMemoryBlocks * sizeof(MemoryBlock)));
|
||||
mMemoryBlocks = static_cast<MemoryBlock*>(mBaseAllocator.allocate(mNbAllocatedMemoryBlocks * sizeof(MemoryBlock)));
|
||||
memcpy(mMemoryBlocks, currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock));
|
||||
memset(mMemoryBlocks + mNbCurrentMemoryBlocks, 0, 64 * sizeof(MemoryBlock));
|
||||
MemoryManager::getBaseAllocator().release(currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock));
|
||||
mBaseAllocator.release(currentMemoryBlocks, mNbCurrentMemoryBlocks * sizeof(MemoryBlock));
|
||||
}
|
||||
|
||||
// Allocate a new memory blocks for the corresponding heap and divide it in many
|
||||
// memory units
|
||||
MemoryBlock* newBlock = mMemoryBlocks + mNbCurrentMemoryBlocks;
|
||||
newBlock->memoryUnits = static_cast<MemoryUnit*>(MemoryManager::getBaseAllocator().allocate(BLOCK_SIZE));
|
||||
newBlock->memoryUnits = static_cast<MemoryUnit*>(mBaseAllocator.allocate(BLOCK_SIZE));
|
||||
assert(newBlock->memoryUnits != nullptr);
|
||||
size_t unitSize = mUnitSizes[indexHeap];
|
||||
uint nbUnits = BLOCK_SIZE / unitSize;
|
||||
|
|
@ -188,7 +188,7 @@ void PoolAllocator::release(void* pointer, size_t size) {
|
|||
if (size > MAX_UNIT_SIZE) {
|
||||
|
||||
// Release the memory using the default deallocation
|
||||
MemoryManager::getBaseAllocator().release(pointer, size);
|
||||
mBaseAllocator.release(pointer, size);
|
||||
return;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -101,6 +101,9 @@ class PoolAllocator : public MemoryAllocator {
|
|||
/// True if the mMapSizeToHeapIndex array has already been initialized
|
||||
static bool isMapSizeToHeadIndexInitialized;
|
||||
|
||||
/// Base memory allocator
|
||||
MemoryAllocator& mBaseAllocator;
|
||||
|
||||
/// Pointers to the first free memory unit for each heap
|
||||
MemoryUnit* mFreeMemoryUnits[NB_HEAPS];
|
||||
|
||||
|
|
@ -126,7 +129,7 @@ class PoolAllocator : public MemoryAllocator {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
PoolAllocator();
|
||||
PoolAllocator(MemoryAllocator& baseAllocator);
|
||||
|
||||
/// Destructor
|
||||
virtual ~PoolAllocator() override;
|
||||
|
|
|
|||
|
|
@ -32,12 +32,12 @@
|
|||
using namespace reactphysics3d;
|
||||
|
||||
// Constructor
|
||||
SingleFrameAllocator::SingleFrameAllocator()
|
||||
: mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES),
|
||||
mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) {
|
||||
SingleFrameAllocator::SingleFrameAllocator(MemoryAllocator& baseAllocator) : mBaseAllocator(baseAllocator),
|
||||
mTotalSizeBytes(INIT_SINGLE_FRAME_ALLOCATOR_NB_BYTES),
|
||||
mCurrentOffset(0), mNbFramesTooMuchAllocated(0), mNeedToAllocatedMore(false) {
|
||||
|
||||
// Allocate a whole block of memory at the beginning
|
||||
mMemoryBufferStart = static_cast<char*>(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes));
|
||||
mMemoryBufferStart = static_cast<char*>(mBaseAllocator.allocate(mTotalSizeBytes));
|
||||
assert(mMemoryBufferStart != nullptr);
|
||||
}
|
||||
|
||||
|
|
@ -45,7 +45,7 @@ SingleFrameAllocator::SingleFrameAllocator()
|
|||
SingleFrameAllocator::~SingleFrameAllocator() {
|
||||
|
||||
// Release the memory allocated at the beginning
|
||||
MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -60,7 +60,7 @@ void* SingleFrameAllocator::allocate(size_t size) {
|
|||
mNeedToAllocatedMore = true;
|
||||
|
||||
// Return default memory allocation
|
||||
return MemoryManager::getBaseAllocator().allocate(size);
|
||||
return mBaseAllocator.allocate(size);
|
||||
}
|
||||
|
||||
// Next available memory location
|
||||
|
|
@ -81,7 +81,7 @@ void SingleFrameAllocator::release(void* pointer, size_t size) {
|
|||
if (p < mMemoryBufferStart || p > mMemoryBufferStart + mTotalSizeBytes) {
|
||||
|
||||
// Use default deallocation
|
||||
MemoryManager::getBaseAllocator().release(pointer, size);
|
||||
mBaseAllocator.release(pointer, size);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -96,14 +96,14 @@ void SingleFrameAllocator::reset() {
|
|||
if (mNbFramesTooMuchAllocated > NB_FRAMES_UNTIL_SHRINK) {
|
||||
|
||||
// Release the memory allocated at the beginning
|
||||
MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
|
||||
// Divide the total memory to allocate by two
|
||||
mTotalSizeBytes /= 2;
|
||||
if (mTotalSizeBytes == 0) mTotalSizeBytes = 1;
|
||||
|
||||
// Allocate a whole block of memory at the beginning
|
||||
mMemoryBufferStart = static_cast<char*>(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes));
|
||||
mMemoryBufferStart = static_cast<char*>(mBaseAllocator.allocate(mTotalSizeBytes));
|
||||
assert(mMemoryBufferStart != nullptr);
|
||||
|
||||
mNbFramesTooMuchAllocated = 0;
|
||||
|
|
@ -117,13 +117,13 @@ void SingleFrameAllocator::reset() {
|
|||
if (mNeedToAllocatedMore) {
|
||||
|
||||
// Release the memory allocated at the beginning
|
||||
MemoryManager::getBaseAllocator().release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
mBaseAllocator.release(mMemoryBufferStart, mTotalSizeBytes);
|
||||
|
||||
// Multiply the total memory to allocate by two
|
||||
mTotalSizeBytes *= 2;
|
||||
|
||||
// Allocate a whole block of memory at the beginning
|
||||
mMemoryBufferStart = static_cast<char*>(MemoryManager::getBaseAllocator().allocate(mTotalSizeBytes));
|
||||
mMemoryBufferStart = static_cast<char*>(mBaseAllocator.allocate(mTotalSizeBytes));
|
||||
assert(mMemoryBufferStart != nullptr);
|
||||
|
||||
mNeedToAllocatedMore = false;
|
||||
|
|
|
|||
|
|
@ -53,6 +53,9 @@ class SingleFrameAllocator : public MemoryAllocator {
|
|||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Reference to the base memory allocator
|
||||
MemoryAllocator& mBaseAllocator;
|
||||
|
||||
/// Total size (in bytes) of memory of the allocator
|
||||
size_t mTotalSizeBytes;
|
||||
|
||||
|
|
@ -74,7 +77,7 @@ class SingleFrameAllocator : public MemoryAllocator {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
SingleFrameAllocator();
|
||||
SingleFrameAllocator(MemoryAllocator& baseAllocator);
|
||||
|
||||
/// Destructor
|
||||
virtual ~SingleFrameAllocator() override;
|
||||
|
|
|
|||
|
|
@ -39,6 +39,7 @@
|
|||
#include "mathematics/mathematics.h"
|
||||
#include "body/CollisionBody.h"
|
||||
#include "body/RigidBody.h"
|
||||
#include "engine/PhysicsCommon.h"
|
||||
#include "engine/DynamicsWorld.h"
|
||||
#include "engine/CollisionWorld.h"
|
||||
#include "engine/Material.h"
|
||||
|
|
|
|||
|
|
@ -155,11 +155,15 @@ void ProfileNodeIterator::enterParent() {
|
|||
}
|
||||
|
||||
// Constructor
|
||||
Profiler::Profiler() :mRootNode("Root", nullptr), mDestinations(MemoryManager::getBaseAllocator()) {
|
||||
Profiler::Profiler() :mRootNode("Root", nullptr) {
|
||||
|
||||
mCurrentNode = &mRootNode;
|
||||
mNbDestinations = 0;
|
||||
mNbAllocatedDestinations = 0;
|
||||
mProfilingStartTime = Timer::getCurrentSystemTime() * 1000.0L;
|
||||
mFrameCounter = 0;
|
||||
|
||||
allocatedDestinations(1);
|
||||
}
|
||||
|
||||
// Destructor
|
||||
|
|
@ -174,11 +178,11 @@ Profiler::~Profiler() {
|
|||
void Profiler::removeAllDestinations() {
|
||||
|
||||
// Delete all the destinations
|
||||
for (uint i=0; i<mDestinations.size(); i++) {
|
||||
for (uint i=0; i<mNbDestinations; i++) {
|
||||
delete mDestinations[i];
|
||||
}
|
||||
|
||||
mDestinations.clear();
|
||||
mNbDestinations = 0;
|
||||
}
|
||||
|
||||
// Method called when we want to start profiling a block of code.
|
||||
|
|
@ -217,12 +221,12 @@ void Profiler::reset() {
|
|||
void Profiler::printReport() {
|
||||
|
||||
// For each destination
|
||||
for (auto it = mDestinations.begin(); it != mDestinations.end(); ++it) {
|
||||
for (uint i=0; i < mNbDestinations; i++) {
|
||||
|
||||
ProfileNodeIterator* iterator = Profiler::getIterator();
|
||||
|
||||
// Recursively print the report of each node of the profiler tree
|
||||
printRecursiveNodeReport(iterator, 0, (*it)->getOutputStream());
|
||||
printRecursiveNodeReport(iterator, 0, mDestinations[i]->getOutputStream());
|
||||
|
||||
// Destroy the iterator
|
||||
destroyIterator(iterator);
|
||||
|
|
@ -232,15 +236,39 @@ void Profiler::printReport() {
|
|||
// Add a file destination to the profiler
|
||||
void Profiler::addFileDestination(const std::string& filePath, Format format) {
|
||||
|
||||
if (mNbAllocatedDestinations == mNbDestinations) {
|
||||
allocatedDestinations(mNbAllocatedDestinations * 2);
|
||||
}
|
||||
|
||||
FileDestination* destination = new FileDestination(filePath, format);
|
||||
mDestinations.add(destination);
|
||||
mDestinations[mNbDestinations] = destination;
|
||||
|
||||
mNbDestinations++;
|
||||
}
|
||||
|
||||
// Allocate memory for the destinations
|
||||
void Profiler::allocatedDestinations(uint nbDestinationsToAllocate) {
|
||||
|
||||
if (mNbAllocatedDestinations >= nbDestinationsToAllocate) return;
|
||||
|
||||
Destination** newArray = static_cast<Destination**>(std::malloc(nbDestinationsToAllocate * sizeof(Destination*)));
|
||||
std::memcpy(newArray, mDestinations, mNbAllocatedDestinations * sizeof(Destination*));
|
||||
|
||||
mDestinations = newArray;
|
||||
mNbAllocatedDestinations = nbDestinationsToAllocate;
|
||||
}
|
||||
|
||||
// Add a stream destination to the profiler
|
||||
void Profiler::addStreamDestination(std::ostream& outputStream, Format format) {
|
||||
|
||||
if (mNbAllocatedDestinations == mNbDestinations) {
|
||||
allocatedDestinations(mNbAllocatedDestinations * 2);
|
||||
}
|
||||
|
||||
StreamDestination* destination = new StreamDestination(outputStream, format);
|
||||
mDestinations.add(destination);
|
||||
mDestinations[mNbDestinations] = destination;
|
||||
|
||||
mNbDestinations++;
|
||||
}
|
||||
|
||||
// Recursively print the report of a given node of the profiler tree
|
||||
|
|
|
|||
|
|
@ -291,8 +291,14 @@ class Profiler {
|
|||
/// Starting profiling time
|
||||
long double mProfilingStartTime;
|
||||
|
||||
/// All the output destinations
|
||||
List<Destination*> mDestinations;
|
||||
/// Number of allocated destinations
|
||||
uint mNbAllocatedDestinations;
|
||||
|
||||
/// Number of destinations
|
||||
uint mNbDestinations;
|
||||
|
||||
/// Array with all the output destinations
|
||||
Destination** mDestinations;
|
||||
|
||||
/// Recursively print the report of a given node of the profiler tree
|
||||
void printRecursiveNodeReport(ProfileNodeIterator* iterator, int spacing,
|
||||
|
|
@ -336,6 +342,9 @@ class Profiler {
|
|||
/// Return an iterator over the profiler tree starting at the root
|
||||
ProfileNodeIterator* getIterator();
|
||||
|
||||
// Allocate memory for the destinations
|
||||
void allocatedDestinations(uint nbDestinationsToAllocate);
|
||||
|
||||
// Add a file destination to the profiler
|
||||
void addFileDestination(const std::string& filePath, Format format);
|
||||
|
||||
|
|
|
|||
|
|
@ -265,6 +265,8 @@ class TestCollisionWorld : public Test {
|
|||
|
||||
// ---------- Atributes ---------- //
|
||||
|
||||
PhysicsCommon mPhysicsCommon;
|
||||
|
||||
// Physics world
|
||||
CollisionWorld* mWorld;
|
||||
|
||||
|
|
@ -330,37 +332,37 @@ class TestCollisionWorld : public Test {
|
|||
TestCollisionWorld(const std::string& name) : Test(name) {
|
||||
|
||||
// Create the collision world
|
||||
mWorld = new CollisionWorld();
|
||||
mWorld = mPhysicsCommon.createCollisionWorld();
|
||||
|
||||
// ---------- Boxes ---------- //
|
||||
Transform boxTransform1(Vector3(-20, 20, 0), Quaternion::identity());
|
||||
mBoxBody1 = mWorld->createCollisionBody(boxTransform1);
|
||||
mBoxShape1 = new BoxShape(Vector3(3, 3, 3));
|
||||
mBoxShape1 = mPhysicsCommon.createBoxShape(Vector3(3, 3, 3));
|
||||
mBoxProxyShape1 = mBoxBody1->addCollisionShape(mBoxShape1, Transform::identity());
|
||||
|
||||
Transform boxTransform2(Vector3(-10, 20, 0), Quaternion::identity());
|
||||
mBoxBody2 = mWorld->createCollisionBody(boxTransform2);
|
||||
mBoxShape2 = new BoxShape(Vector3(4, 2, 8));
|
||||
mBoxShape2 = mPhysicsCommon.createBoxShape(Vector3(4, 2, 8));
|
||||
mBoxProxyShape2 = mBoxBody2->addCollisionShape(mBoxShape2, Transform::identity());
|
||||
|
||||
// ---------- Spheres ---------- //
|
||||
mSphereShape1 = new SphereShape(3.0);
|
||||
mSphereShape1 = mPhysicsCommon.createSphereShape(3.0);
|
||||
Transform sphereTransform1(Vector3(10, 20, 0), Quaternion::identity());
|
||||
mSphereBody1 = mWorld->createCollisionBody(sphereTransform1);
|
||||
mSphereProxyShape1 = mSphereBody1->addCollisionShape(mSphereShape1, Transform::identity());
|
||||
|
||||
mSphereShape2 = new SphereShape(5.0);
|
||||
mSphereShape2 = mPhysicsCommon.createSphereShape(5.0);
|
||||
Transform sphereTransform2(Vector3(20, 20, 0), Quaternion::identity());
|
||||
mSphereBody2 = mWorld->createCollisionBody(sphereTransform2);
|
||||
mSphereProxyShape2 = mSphereBody2->addCollisionShape(mSphereShape2, Transform::identity());
|
||||
|
||||
// ---------- Capsules ---------- //
|
||||
mCapsuleShape1 = new CapsuleShape(2, 6);
|
||||
mCapsuleShape1 = mPhysicsCommon.createCapsuleShape(2, 6);
|
||||
Transform capsuleTransform1(Vector3(-10, 0, 0), Quaternion::identity());
|
||||
mCapsuleBody1 = mWorld->createCollisionBody(capsuleTransform1);
|
||||
mCapsuleProxyShape1 = mCapsuleBody1->addCollisionShape(mCapsuleShape1, Transform::identity());
|
||||
|
||||
mCapsuleShape2 = new CapsuleShape(3, 4);
|
||||
mCapsuleShape2 = mPhysicsCommon.createCapsuleShape(3, 4);
|
||||
Transform capsuleTransform2(Vector3(-20, 0, 0), Quaternion::identity());
|
||||
mCapsuleBody2 = mWorld->createCollisionBody(capsuleTransform2);
|
||||
mCapsuleProxyShape2 = mCapsuleBody2->addCollisionShape(mCapsuleShape2, Transform::identity());
|
||||
|
|
@ -393,8 +395,8 @@ class TestCollisionWorld : public Test {
|
|||
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
|
||||
rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
|
||||
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
mConvexMesh1PolyhedronMesh = new rp3d::PolyhedronMesh(mConvexMesh1PolygonVertexArray);
|
||||
mConvexMeshShape1 = new rp3d::ConvexMeshShape(mConvexMesh1PolyhedronMesh);
|
||||
mConvexMesh1PolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMesh1PolygonVertexArray);
|
||||
mConvexMeshShape1 = mPhysicsCommon.createConvexMeshShape(mConvexMesh1PolyhedronMesh);
|
||||
Transform convexMeshTransform1(Vector3(10, 0, 0), Quaternion::identity());
|
||||
mConvexMeshBody1 = mWorld->createCollisionBody(convexMeshTransform1);
|
||||
mConvexMeshProxyShape1 = mConvexMeshBody1->addCollisionShape(mConvexMeshShape1, Transform::identity());
|
||||
|
|
@ -412,8 +414,8 @@ class TestCollisionWorld : public Test {
|
|||
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
|
||||
rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
|
||||
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
mConvexMesh2PolyhedronMesh = new rp3d::PolyhedronMesh(mConvexMesh2PolygonVertexArray);
|
||||
mConvexMeshShape2 = new rp3d::ConvexMeshShape(mConvexMesh2PolyhedronMesh);
|
||||
mConvexMesh2PolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMesh2PolygonVertexArray);
|
||||
mConvexMeshShape2 = mPhysicsCommon.createConvexMeshShape(mConvexMesh2PolyhedronMesh);
|
||||
Transform convexMeshTransform2(Vector3(20, 0, 0), Quaternion::identity());
|
||||
mConvexMeshBody2 = mWorld->createCollisionBody(convexMeshTransform2);
|
||||
mConvexMeshProxyShape2 = mConvexMeshBody2->addCollisionShape(mConvexMeshShape2, Transform::identity());
|
||||
|
|
@ -449,9 +451,9 @@ class TestCollisionWorld : public Test {
|
|||
|
||||
// Add the triangle vertex array of the subpart to the triangle mesh
|
||||
Transform concaveMeshTransform(Vector3(0, -20, 0), Quaternion::identity());
|
||||
mConcaveTriangleMesh = new TriangleMesh();
|
||||
mConcaveTriangleMesh = mPhysicsCommon.createTriangleMesh();
|
||||
mConcaveTriangleMesh->addSubpart(mConcaveMeshTriangleVertexArray);
|
||||
mConcaveMeshShape = new rp3d::ConcaveMeshShape(mConcaveTriangleMesh);
|
||||
mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh);
|
||||
mConcaveMeshBody = mWorld->createCollisionBody(concaveMeshTransform);
|
||||
mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, rp3d::Transform::identity());
|
||||
}
|
||||
|
|
@ -459,28 +461,32 @@ class TestCollisionWorld : public Test {
|
|||
/// Destructor
|
||||
virtual ~TestCollisionWorld() {
|
||||
|
||||
delete mBoxShape1;
|
||||
delete mBoxShape2;
|
||||
mPhysicsCommon.destroyBoxShape(mBoxShape1);
|
||||
mPhysicsCommon.destroyBoxShape(mBoxShape2);
|
||||
|
||||
delete mSphereShape1;
|
||||
delete mSphereShape2;
|
||||
mPhysicsCommon.destroySphereShape(mSphereShape1);
|
||||
mPhysicsCommon.destroySphereShape(mSphereShape2);
|
||||
|
||||
delete mCapsuleShape1;
|
||||
delete mCapsuleShape2;
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape1);
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape2);
|
||||
|
||||
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape1);
|
||||
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape2);
|
||||
|
||||
mPhysicsCommon.destroyPolyhedronMesh(mConvexMesh1PolyhedronMesh);
|
||||
mPhysicsCommon.destroyPolyhedronMesh(mConvexMesh2PolyhedronMesh);
|
||||
|
||||
delete mConvexMeshShape1;
|
||||
delete mConvexMeshShape2;
|
||||
delete mConvexMesh1PolyhedronMesh;
|
||||
delete mConvexMesh2PolyhedronMesh;
|
||||
delete mConvexMesh1PolygonVertexArray;
|
||||
delete mConvexMesh2PolygonVertexArray;
|
||||
delete[] mConvexMeshPolygonFaces;
|
||||
|
||||
delete mConcaveMeshShape;
|
||||
delete mConcaveTriangleMesh;
|
||||
mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape);
|
||||
|
||||
mPhysicsCommon.destroyTriangleMesh(mConcaveTriangleMesh);
|
||||
|
||||
delete mConcaveMeshTriangleVertexArray;
|
||||
|
||||
delete mWorld;
|
||||
mPhysicsCommon.destroyCollisionWorld(mWorld);
|
||||
}
|
||||
|
||||
/// Run the tests
|
||||
|
|
|
|||
|
|
@ -30,6 +30,7 @@
|
|||
#include "Test.h"
|
||||
#include "collision/broadphase/DynamicAABBTree.h"
|
||||
#include "memory/MemoryManager.h"
|
||||
#include "engine/PhysicsCommon.h"
|
||||
#include "utils/Profiler.h"
|
||||
#include <vector>
|
||||
|
||||
|
|
@ -57,6 +58,28 @@ class DynamicTreeRaycastCallback : public DynamicAABBTreeRaycastCallback {
|
|||
}
|
||||
};
|
||||
|
||||
class DefaultTestTreeAllocator : public MemoryAllocator {
|
||||
|
||||
public:
|
||||
|
||||
/// Destructor
|
||||
virtual ~DefaultTestTreeAllocator() override = default;
|
||||
|
||||
/// Assignment operator
|
||||
DefaultTestTreeAllocator& operator=(DefaultTestTreeAllocator& allocator) = default;
|
||||
|
||||
/// Allocate memory of a given size (in bytes) and return a pointer to the
|
||||
/// allocated memory.
|
||||
virtual void* allocate(size_t size) override {
|
||||
|
||||
return malloc(size);
|
||||
}
|
||||
|
||||
/// Release previously allocated memory.
|
||||
virtual void release(void* pointer, size_t size) override {
|
||||
free(pointer);
|
||||
}
|
||||
};
|
||||
|
||||
// Class TestDynamicAABBTree
|
||||
/**
|
||||
|
|
@ -68,8 +91,9 @@ class TestDynamicAABBTree : public Test {
|
|||
|
||||
// ---------- Atributes ---------- //
|
||||
|
||||
DefaultTestTreeAllocator mAllocator;
|
||||
|
||||
DynamicTreeRaycastCallback mRaycastCallback;
|
||||
PoolAllocator mAllocator;
|
||||
|
||||
public :
|
||||
|
||||
|
|
@ -99,7 +123,7 @@ class TestDynamicAABBTree : public Test {
|
|||
// ------------ Create tree ---------- //
|
||||
|
||||
// Dynamic AABB Tree
|
||||
DynamicAABBTree tree(MemoryManager::getBaseAllocator());
|
||||
DynamicAABBTree tree(mAllocator);
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
/// Pointer to the profiler
|
||||
|
|
@ -155,7 +179,7 @@ class TestDynamicAABBTree : public Test {
|
|||
// ------------- Create tree ----------- //
|
||||
|
||||
// Dynamic AABB Tree
|
||||
DynamicAABBTree tree(MemoryManager::getBaseAllocator());
|
||||
DynamicAABBTree tree(mAllocator);
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
/// Pointer to the profiler
|
||||
|
|
@ -356,7 +380,7 @@ class TestDynamicAABBTree : public Test {
|
|||
// ------------- Create tree ----------- //
|
||||
|
||||
// Dynamic AABB Tree
|
||||
DynamicAABBTree tree(MemoryManager::getBaseAllocator());
|
||||
DynamicAABBTree tree(mAllocator);
|
||||
|
||||
#ifdef IS_PROFILING_ACTIVE
|
||||
/// Pointer to the profiler
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@
|
|||
#include "collision/shapes/CapsuleShape.h"
|
||||
#include "collision/shapes/ConvexMeshShape.h"
|
||||
#include "engine/CollisionWorld.h"
|
||||
#include "engine/PhysicsCommon.h"
|
||||
#include "collision/PolygonVertexArray.h"
|
||||
|
||||
/// Reactphysics3D namespace
|
||||
|
|
@ -48,6 +49,9 @@ class TestPointInside : public Test {
|
|||
|
||||
// ---------- Atributes ---------- //
|
||||
|
||||
// Physics common
|
||||
PhysicsCommon mPhysicsCommon;
|
||||
|
||||
// Physics world
|
||||
CollisionWorld* mWorld;
|
||||
|
||||
|
|
@ -93,7 +97,7 @@ class TestPointInside : public Test {
|
|||
TestPointInside(const std::string& name) : Test(name) {
|
||||
|
||||
// Create the world
|
||||
mWorld = new CollisionWorld();
|
||||
mWorld = mPhysicsCommon.createCollisionWorld();
|
||||
|
||||
// Body transform
|
||||
Vector3 position(-3, 2, 7);
|
||||
|
|
@ -120,13 +124,13 @@ class TestPointInside : public Test {
|
|||
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
|
||||
|
||||
// Create collision shapes
|
||||
mBoxShape = new BoxShape(Vector3(2, 3, 4));
|
||||
mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4));
|
||||
mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
|
||||
|
||||
mSphereShape = new SphereShape(3);
|
||||
mSphereShape = mPhysicsCommon.createSphereShape(3);
|
||||
mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform);
|
||||
|
||||
mCapsuleShape = new CapsuleShape(3, 10);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(3, 10);
|
||||
mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
|
||||
|
||||
mConvexMeshCubeVertices[0] = Vector3(-2, -3, 4);
|
||||
|
|
@ -156,8 +160,8 @@ class TestPointInside : public Test {
|
|||
&(mConvexMeshCubeIndices[0]), sizeof(int), 6, mConvexMeshPolygonFaces,
|
||||
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
|
||||
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
mConvexMeshPolyhedronMesh = new PolyhedronMesh(mConvexMeshPolygonVertexArray);
|
||||
mConvexMeshShape = new ConvexMeshShape(mConvexMeshPolyhedronMesh);
|
||||
mConvexMeshPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mConvexMeshPolygonVertexArray);
|
||||
mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mConvexMeshPolyhedronMesh);
|
||||
Transform convexMeshTransform(Vector3(10, 0, 0), Quaternion::identity());
|
||||
mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
|
||||
|
||||
|
|
@ -172,11 +176,11 @@ class TestPointInside : public Test {
|
|||
|
||||
/// Destructor
|
||||
virtual ~TestPointInside() {
|
||||
delete mWorld;
|
||||
delete mBoxShape;
|
||||
delete mSphereShape;
|
||||
delete mCapsuleShape;
|
||||
delete mConvexMeshShape;
|
||||
mPhysicsCommon.destroyBoxShape(mBoxShape);
|
||||
mPhysicsCommon.destroySphereShape(mSphereShape);
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
|
||||
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
|
||||
mPhysicsCommon.destroyCollisionWorld(mWorld);
|
||||
delete[] mConvexMeshPolygonFaces;
|
||||
delete mConvexMeshPolygonVertexArray;
|
||||
delete mConvexMeshPolyhedronMesh;
|
||||
|
|
|
|||
|
|
@ -28,6 +28,7 @@
|
|||
|
||||
// Libraries
|
||||
#include "Test.h"
|
||||
#include "engine/PhysicsCommon.h"
|
||||
#include "engine/CollisionWorld.h"
|
||||
#include "body/CollisionBody.h"
|
||||
#include "collision/shapes/BoxShape.h"
|
||||
|
|
@ -40,6 +41,8 @@
|
|||
#include "collision/TriangleMesh.h"
|
||||
#include "collision/TriangleVertexArray.h"
|
||||
#include "collision/RaycastInfo.h"
|
||||
#include "collision/PolygonVertexArray.h"
|
||||
#include <vector>
|
||||
|
||||
/// Reactphysics3D namespace
|
||||
namespace reactphysics3d {
|
||||
|
|
@ -99,6 +102,8 @@ class TestRaycast : public Test {
|
|||
|
||||
// ---------- Atributes ---------- //
|
||||
|
||||
PhysicsCommon mPhysicsCommon;
|
||||
|
||||
// Raycast callback class
|
||||
WorldRaycastCallback mCallback;
|
||||
|
||||
|
|
@ -117,7 +122,6 @@ class TestRaycast : public Test {
|
|||
CollisionBody* mConvexMeshBody;
|
||||
CollisionBody* mCylinderBody;
|
||||
CollisionBody* mCompoundBody;
|
||||
CollisionBody* mTriangleBody;
|
||||
CollisionBody* mConcaveMeshBody;
|
||||
CollisionBody* mHeightFieldBody;
|
||||
|
||||
|
|
@ -132,8 +136,7 @@ class TestRaycast : public Test {
|
|||
SphereShape* mSphereShape;
|
||||
CapsuleShape* mCapsuleShape;
|
||||
ConvexMeshShape* mConvexMeshShape;
|
||||
TriangleShape* mTriangleShape;
|
||||
ConcaveShape* mConcaveMeshShape;
|
||||
ConcaveMeshShape* mConcaveMeshShape;
|
||||
HeightFieldShape* mHeightFieldShape;
|
||||
|
||||
// Proxy Shapes
|
||||
|
|
@ -143,12 +146,11 @@ class TestRaycast : public Test {
|
|||
ProxyShape* mConvexMeshProxyShape;
|
||||
ProxyShape* mCompoundSphereProxyShape;
|
||||
ProxyShape* mCompoundCapsuleProxyShape;
|
||||
ProxyShape* mTriangleProxyShape;
|
||||
ProxyShape* mConcaveMeshProxyShape;
|
||||
ProxyShape* mHeightFieldProxyShape;
|
||||
|
||||
// Triangle meshes
|
||||
TriangleMesh mConcaveTriangleMesh;
|
||||
TriangleMesh* mConcaveTriangleMesh;
|
||||
|
||||
std::vector<Vector3> mConcaveMeshVertices;
|
||||
std::vector<uint> mConcaveMeshIndices;
|
||||
|
|
@ -170,7 +172,7 @@ class TestRaycast : public Test {
|
|||
epsilon = decimal(0.0001);
|
||||
|
||||
// Create the world
|
||||
mWorld = new CollisionWorld();
|
||||
mWorld = mPhysicsCommon.createCollisionWorld();
|
||||
|
||||
// Body transform
|
||||
Vector3 position(-3, 2, 7);
|
||||
|
|
@ -184,7 +186,6 @@ class TestRaycast : public Test {
|
|||
mConvexMeshBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
mCylinderBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
mCompoundBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
mTriangleBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
mConcaveMeshBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
mHeightFieldBody = mWorld->createCollisionBody(mBodyTransform);
|
||||
|
||||
|
|
@ -197,21 +198,13 @@ class TestRaycast : public Test {
|
|||
mLocalShapeToWorld = mBodyTransform * mShapeTransform;
|
||||
|
||||
// Create collision shapes
|
||||
mBoxShape = new BoxShape(Vector3(2, 3, 4));
|
||||
mBoxShape = mPhysicsCommon.createBoxShape(Vector3(2, 3, 4));
|
||||
mBoxProxyShape = mBoxBody->addCollisionShape(mBoxShape, mShapeTransform);
|
||||
|
||||
mSphereShape = new SphereShape(3);
|
||||
mSphereShape = mPhysicsCommon.createSphereShape(3);
|
||||
mSphereProxyShape = mSphereBody->addCollisionShape(mSphereShape, mShapeTransform);
|
||||
|
||||
Vector3 triangleVertices[3];
|
||||
triangleVertices[0] = Vector3(100, 100, 0);
|
||||
triangleVertices[1] = Vector3(105, 100, 0);
|
||||
triangleVertices[2] = Vector3(100, 103, 0);
|
||||
Vector3 triangleVerticesNormals[3] = {Vector3(0, 0, 1), Vector3(0, 0, 1), Vector3(0, 0, 1)};
|
||||
mTriangleShape = new TriangleShape(triangleVertices, triangleVerticesNormals, 0, mAllocator);
|
||||
mTriangleProxyShape = mTriangleBody->addCollisionShape(mTriangleShape, mShapeTransform);
|
||||
|
||||
mCapsuleShape = new CapsuleShape(2, 5);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(2, 5);
|
||||
mCapsuleProxyShape = mCapsuleBody->addCollisionShape(mCapsuleShape, mShapeTransform);
|
||||
|
||||
mPolyhedronVertices[0] = Vector3(-2, -3, 4);
|
||||
|
|
@ -244,8 +237,8 @@ class TestRaycast : public Test {
|
|||
PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
|
||||
PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
mPolyhedronMesh = new PolyhedronMesh(mPolygonVertexArray);
|
||||
mConvexMeshShape = new ConvexMeshShape(mPolyhedronMesh);
|
||||
mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray);
|
||||
mConvexMeshShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh);
|
||||
mConvexMeshProxyShape = mConvexMeshBody->addCollisionShape(mConvexMeshShape, mShapeTransform);
|
||||
|
||||
// Compound shape is a cylinder and a sphere
|
||||
|
|
@ -285,16 +278,15 @@ class TestRaycast : public Test {
|
|||
12, &(mConcaveMeshIndices[0]), 3 * sizeof(uint),
|
||||
vertexType, TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
|
||||
// Add the triangle vertex array of the subpart to the triangle mesh
|
||||
mConcaveTriangleMesh.addSubpart(mConcaveMeshVertexArray);
|
||||
mConcaveMeshShape = new ConcaveMeshShape(&mConcaveTriangleMesh);
|
||||
mConcaveTriangleMesh->addSubpart(mConcaveMeshVertexArray);
|
||||
mConcaveMeshShape = mPhysicsCommon.createConcaveMeshShape(mConcaveTriangleMesh);
|
||||
mConcaveMeshProxyShape = mConcaveMeshBody->addCollisionShape(mConcaveMeshShape, mShapeTransform);
|
||||
|
||||
|
||||
// Heightfield shape (plane height field at height=4)
|
||||
for (int i=0; i<100; i++) mHeightFieldData[i] = 4;
|
||||
mHeightFieldShape = new HeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
|
||||
mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(10, 10, 0, 4, mHeightFieldData, HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
|
||||
mHeightFieldProxyShape = mHeightFieldBody->addCollisionShape(mHeightFieldShape, mShapeTransform);
|
||||
|
||||
// Assign proxy shapes to the different categories
|
||||
|
|
@ -304,22 +296,21 @@ class TestRaycast : public Test {
|
|||
mConvexMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
|
||||
mCompoundSphereProxyShape->setCollisionCategoryBits(CATEGORY2);
|
||||
mCompoundCapsuleProxyShape->setCollisionCategoryBits(CATEGORY2);
|
||||
mTriangleProxyShape->setCollisionCategoryBits(CATEGORY1);
|
||||
mConcaveMeshProxyShape->setCollisionCategoryBits(CATEGORY2);
|
||||
mHeightFieldProxyShape->setCollisionCategoryBits(CATEGORY2);
|
||||
}
|
||||
|
||||
/// Destructor
|
||||
virtual ~TestRaycast() {
|
||||
delete mWorld;
|
||||
delete mBoxShape;
|
||||
delete mSphereShape;
|
||||
delete mCapsuleShape;
|
||||
delete mConvexMeshShape;
|
||||
delete mTriangleShape;
|
||||
delete mConcaveMeshShape;
|
||||
delete mHeightFieldShape;
|
||||
|
||||
mPhysicsCommon.destroyBoxShape(mBoxShape);
|
||||
mPhysicsCommon.destroySphereShape(mSphereShape);
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
|
||||
mPhysicsCommon.destroyConvexMeshShape(mConvexMeshShape);
|
||||
mPhysicsCommon.destroyConcaveMeshShape(mConcaveMeshShape);
|
||||
mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape);
|
||||
|
||||
mPhysicsCommon.destroyCollisionWorld(mWorld);
|
||||
delete mConcaveMeshVertexArray;
|
||||
|
||||
delete mPolygonVertexArray;
|
||||
|
|
@ -333,7 +324,6 @@ class TestRaycast : public Test {
|
|||
testCapsule();
|
||||
testConvexMesh();
|
||||
testCompound();
|
||||
testTriangle();
|
||||
testConcaveMesh();
|
||||
testHeightField();
|
||||
}
|
||||
|
|
@ -1000,304 +990,6 @@ class TestRaycast : public Test {
|
|||
rp3d_test(mCallback.isHit);
|
||||
}
|
||||
|
||||
/// Test the ProxySphereShape::raycast(), CollisionBody::raycast() and
|
||||
/// CollisionWorld::raycast() methods.
|
||||
void testTriangle() {
|
||||
|
||||
// ----- Test feedback data ----- //
|
||||
Vector3 point1 = mLocalShapeToWorld * Vector3(101, 101, 400);
|
||||
Vector3 point2 = mLocalShapeToWorld * Vector3(101, 101, -200);
|
||||
Ray ray(point1, point2);
|
||||
Ray rayBackward(point2, point1);
|
||||
|
||||
Vector3 hitPoint = mLocalShapeToWorld * Vector3(101, 101, 0);
|
||||
Vector3 hitNormal = mLocalShapeToWorld.getOrientation() * Vector3(0, 0, 1);
|
||||
hitNormal.normalize();
|
||||
mCallback.shapeToTest = mTriangleProxyShape;
|
||||
|
||||
// CollisionWorld::raycast()
|
||||
mCallback.reset();
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);
|
||||
mWorld->raycast(ray, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
rp3d_test(mCallback.raycastInfo.body == mTriangleBody);
|
||||
rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon));
|
||||
|
||||
mCallback.reset();
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);
|
||||
mWorld->raycast(rayBackward, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
rp3d_test(mCallback.raycastInfo.body == mTriangleBody);
|
||||
rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon));
|
||||
|
||||
mCallback.reset();
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
|
||||
mWorld->raycast(ray, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
rp3d_test(mCallback.raycastInfo.body == mTriangleBody);
|
||||
rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.6666, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, hitNormal.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, hitNormal.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, hitNormal.z, epsilon));
|
||||
|
||||
mCallback.reset();
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
|
||||
mWorld->raycast(rayBackward, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
rp3d_test(mCallback.raycastInfo.body == mTriangleBody);
|
||||
rp3d_test(mCallback.raycastInfo.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.hitFraction, 0.3333, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldPoint.z, hitPoint.z, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.x, -hitNormal.x, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.y, -hitNormal.y, epsilon));
|
||||
rp3d_test(approxEqual(mCallback.raycastInfo.worldNormal.z, -hitNormal.z, epsilon));
|
||||
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);
|
||||
|
||||
// Correct category filter mask
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray, &mCallback, CATEGORY1);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
// Wrong category filter mask
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray, &mCallback, CATEGORY2);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
// CollisionBody::raycast()
|
||||
RaycastInfo raycastInfo2;
|
||||
rp3d_test(mTriangleBody->raycast(ray, raycastInfo2));
|
||||
rp3d_test(raycastInfo2.body == mTriangleBody);
|
||||
rp3d_test(raycastInfo2.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(raycastInfo2.hitFraction, 0.6666, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo2.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo2.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo2.worldPoint.z, hitPoint.z, epsilon));
|
||||
|
||||
// ProxyCollisionShape::raycast()
|
||||
RaycastInfo raycastInfo3;
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray, raycastInfo3));
|
||||
rp3d_test(raycastInfo3.body == mTriangleBody);
|
||||
rp3d_test(raycastInfo3.proxyShape == mTriangleProxyShape);
|
||||
rp3d_test(approxEqual(raycastInfo3.hitFraction, 0.6666, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo3.worldPoint.x, hitPoint.x, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo3.worldPoint.y, hitPoint.y, epsilon));
|
||||
rp3d_test(approxEqual(raycastInfo3.worldPoint.z, hitPoint.z, epsilon));
|
||||
|
||||
Ray ray1(mLocalShapeToWorld * Vector3(-10, 10, 4), mLocalShapeToWorld * Vector3(15, 6, -4));
|
||||
Ray ray2(mLocalShapeToWorld * Vector3(102, 107, 5), mLocalShapeToWorld * Vector3(102, 107, -5));
|
||||
Ray ray3(mLocalShapeToWorld * Vector3(106, 102, 6), mLocalShapeToWorld * Vector3(106, 102, -8));
|
||||
|
||||
Ray ray4(mLocalShapeToWorld * Vector3(100.2, 101, 5), mLocalShapeToWorld * Vector3(100.2, 101, -5));
|
||||
Ray ray5(mLocalShapeToWorld * Vector3(100.5, 101.5, 4), mLocalShapeToWorld * Vector3(100.5, 101.5, -54));
|
||||
Ray ray6(mLocalShapeToWorld * Vector3(102, 101, 1), mLocalShapeToWorld * Vector3(102, 102, -1));
|
||||
|
||||
Ray ray4Back(mLocalShapeToWorld * Vector3(100.2, 101, -5), mLocalShapeToWorld * Vector3(100.2, 101, 5));
|
||||
Ray ray5Back(mLocalShapeToWorld * Vector3(100.5, 101.5, -54), mLocalShapeToWorld * Vector3(100.5, 101.5, 4));
|
||||
Ray ray6Back(mLocalShapeToWorld * Vector3(102, 102, -1), mLocalShapeToWorld * Vector3(102, 101, 1));
|
||||
|
||||
// ----- Test raycast miss ----- //
|
||||
rp3d_test(!mTriangleBody->raycast(ray1, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray1, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray1, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(0.01)), &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray1.point1, ray1.point2, decimal(100.0)), &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray2, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray2, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray2, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray3, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray3, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray3, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
// Test backward ray against front triangles (not hit should occur)
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray4Back, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4Back, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray5Back, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5Back, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray6Back, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6Back, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
// Test front ray against back triangles (not hit should occur)
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray4, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray5, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
rp3d_test(!mTriangleBody->raycast(ray6, raycastInfo3));
|
||||
rp3d_test(!mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6, &mCallback);
|
||||
rp3d_test(!mCallback.isHit);
|
||||
|
||||
// ----- Test raycast hits ----- //
|
||||
|
||||
// Test front ray against front triangles
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray4, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray5, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray6, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6, &mCallback);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
|
||||
|
||||
// Test back ray against back triangles
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::BACK);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray4Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4Back, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray5Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5Back, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray6Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6Back, &mCallback);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback);
|
||||
|
||||
// Test front ray against front-back triangles
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray4, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray4, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray4.point1, ray4.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray5, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray5, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray5.point1, ray5.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray6, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray6, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6, &mCallback);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray6.point1, ray6.point2, decimal(0.8)), &mCallback);
|
||||
|
||||
// Test back ray against front-back triangles
|
||||
mTriangleShape->setRaycastTestType(TriangleRaycastSide::FRONT_AND_BACK);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray4Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray4Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray4Back, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray4Back.point1, ray4Back.point2, decimal(0.8)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray5Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray5Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray5Back, &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray5Back.point1, ray5Back.point2, decimal(1.0)), &mCallback);
|
||||
rp3d_test(mCallback.isHit);
|
||||
|
||||
rp3d_test(mTriangleBody->raycast(ray6Back, raycastInfo3));
|
||||
rp3d_test(mTriangleProxyShape->raycast(ray6Back, raycastInfo3));
|
||||
mCallback.reset();
|
||||
mWorld->raycast(ray6Back, &mCallback);
|
||||
mCallback.reset();
|
||||
mWorld->raycast(Ray(ray6Back.point1, ray6Back.point2, decimal(0.8)), &mCallback);
|
||||
}
|
||||
|
||||
/// Test the ProxyConvexMeshShape::raycast(), CollisionBody::raycast() and
|
||||
/// CollisionWorld::raycast() methods.
|
||||
void testConvexMesh() {
|
||||
|
|
|
|||
|
|
@ -116,6 +116,8 @@ SET(SCENES_SOURCES
|
|||
scenes/heightfield/HeightFieldScene.cpp
|
||||
scenes/cubestack/CubeStackScene.h
|
||||
scenes/cubestack/CubeStackScene.cpp
|
||||
scenes/pile/PileScene.h
|
||||
scenes/pile/PileScene.cpp
|
||||
)
|
||||
|
||||
# Add .user file to set debug path in Visual Studio
|
||||
|
|
|
|||
|
|
@ -38,9 +38,9 @@ openglframework::VertexArrayObject Box::mVAO;
|
|||
int Box::totalNbBoxes = 0;
|
||||
|
||||
// Constructor
|
||||
Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* world,
|
||||
Box::Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::CollisionWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "cube.obj") {
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
|
||||
|
||||
// Initialize the size of the box
|
||||
mSize[0] = size.x * 0.5f;
|
||||
|
|
@ -56,7 +56,7 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* w
|
|||
// Create the collision shape for the rigid body (box shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
||||
mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
||||
//mBoxShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
|
@ -80,9 +80,9 @@ Box::Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* w
|
|||
}
|
||||
|
||||
// Constructor
|
||||
Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::DynamicsWorld* world,
|
||||
Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon &physicsCommon, reactphysics3d::DynamicsWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "cube.obj") {
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "cube.obj") {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cube.obj", *this);
|
||||
|
|
@ -104,7 +104,7 @@ Box::Box(const openglframework::Vector3& size, float mass, reactphysics3d::Dynam
|
|||
// Create the collision shape for the rigid body (box shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
||||
mBoxShape = mPhysicsCommon.createBoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -138,7 +138,7 @@ Box::~Box() {
|
|||
mVBONormals.destroy();
|
||||
mVAO.destroy();
|
||||
}
|
||||
delete mBoxShape;
|
||||
mPhysicsCommon.destroyBoxShape(mBoxShape);
|
||||
totalNbBoxes--;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -75,10 +75,11 @@ class Box : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Box(const openglframework::Vector3& size, reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
Box(const openglframework::Vector3& size, reactphysics3d::PhysicsCommon& physicsCommon,
|
||||
reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Box(const openglframework::Vector3& size, float mass, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath);
|
||||
Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::DynamicsWorld *world, const std::string& meshFolderPath);
|
||||
|
||||
/// Destructor
|
||||
~Box();
|
||||
|
|
|
|||
|
|
@ -34,8 +34,8 @@ openglframework::VertexArrayObject Capsule::mVAO;
|
|||
int Capsule::totalNbCapsules = 0;
|
||||
|
||||
// Constructor
|
||||
Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
|
||||
Capsule::Capsule(float radius, float height, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath)
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
||||
|
|
@ -46,7 +46,7 @@ Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const
|
|||
// Create the collision shape for the rigid body (sphere shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mCapsuleShape = new rp3d::CapsuleShape(mRadius, mHeight);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight);
|
||||
//mCapsuleShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
|
@ -68,9 +68,9 @@ Capsule::Capsule(float radius, float height, rp3d::CollisionWorld* world, const
|
|||
}
|
||||
|
||||
// Constructor
|
||||
Capsule::Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dynamicsWorld,
|
||||
Capsule::Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld,
|
||||
const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "capsule.obj"), mRadius(radius), mHeight(height) {
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
||||
|
|
@ -83,7 +83,7 @@ Capsule::Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dy
|
|||
// Create the collision shape for the rigid body (sphere shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mCapsuleShape = new rp3d::CapsuleShape(mRadius, mHeight);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(mRadius, mHeight);
|
||||
|
||||
// Create a rigid body corresponding in the dynamics world
|
||||
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(mPreviousTransform);
|
||||
|
|
@ -118,7 +118,7 @@ Capsule::~Capsule() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
}
|
||||
delete mCapsuleShape;
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
|
||||
totalNbCapsules--;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -82,10 +82,10 @@ class Capsule : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Capsule(float radius, float height, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
Capsule(float radius, float height, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Capsule(float radius, float height, float mass, rp3d::DynamicsWorld* dynamicsWorld,
|
||||
Capsule(float radius, float height, float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld,
|
||||
const std::string& meshFolderPath);
|
||||
|
||||
/// Destructor
|
||||
|
|
|
|||
|
|
@ -27,14 +27,18 @@
|
|||
#include "ConcaveMesh.h"
|
||||
|
||||
// Constructor
|
||||
ConcaveMesh::ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPath)
|
||||
: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
ConcaveMesh::ConcaveMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath)
|
||||
: PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh();
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4::identity();
|
||||
|
||||
mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh();
|
||||
|
||||
// For each subpart of the mesh
|
||||
for (unsigned int i=0; i<getNbParts(); i++) {
|
||||
|
||||
|
|
@ -46,12 +50,12 @@ ConcaveMesh::ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPat
|
|||
rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
// Add the triangle vertex array of the subpart to the triangle mesh
|
||||
mPhysicsTriangleMesh.addSubpart(vertexArray);
|
||||
mPhysicsTriangleMesh->addSubpart(vertexArray);
|
||||
}
|
||||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and
|
||||
// do not forget to delete it at the end
|
||||
mConcaveShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh);
|
||||
mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -68,14 +72,16 @@ ConcaveMesh::ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPat
|
|||
}
|
||||
|
||||
// Constructor
|
||||
ConcaveMesh::ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
|
||||
: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
ConcaveMesh::ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
|
||||
: PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4::identity();
|
||||
|
||||
mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh();
|
||||
|
||||
// For each subpart of the mesh
|
||||
for (unsigned int i=0; i<getNbParts(); i++) {
|
||||
|
||||
|
|
@ -87,12 +93,12 @@ ConcaveMesh::ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const s
|
|||
rp3d::TriangleVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
// Add the triangle vertex array of the subpart to the triangle mesh
|
||||
mPhysicsTriangleMesh.addSubpart(vertexArray);
|
||||
mPhysicsTriangleMesh->addSubpart(vertexArray);
|
||||
}
|
||||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and
|
||||
// do not forget to delete it at the end
|
||||
mConcaveShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh);
|
||||
mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -114,8 +120,8 @@ ConcaveMesh::ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const s
|
|||
ConcaveMesh::~ConcaveMesh() {
|
||||
|
||||
// Destroy the triangle mesh data for the physics engine
|
||||
for (unsigned int i=0; i<mPhysicsTriangleMesh.getNbSubparts(); i++) {
|
||||
delete mPhysicsTriangleMesh.getSubpart(i);
|
||||
for (unsigned int i=0; i<mPhysicsTriangleMesh->getNbSubparts(); i++) {
|
||||
delete mPhysicsTriangleMesh->getSubpart(i);
|
||||
}
|
||||
|
||||
// Destroy the mesh
|
||||
|
|
@ -128,7 +134,7 @@ ConcaveMesh::~ConcaveMesh() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
|
||||
delete mConcaveShape;
|
||||
mPhysicsCommon.destroyConcaveMeshShape(mConcaveShape);
|
||||
}
|
||||
|
||||
// Render the sphere at the correct position and with the correct orientation
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@ class ConcaveMesh : public PhysicsObject {
|
|||
openglframework::VertexArrayObject mVAO;
|
||||
|
||||
/// Structure with pointer to the shared mesh data (vertices, indices, ...)
|
||||
rp3d::TriangleMesh mPhysicsTriangleMesh;
|
||||
rp3d::TriangleMesh* mPhysicsTriangleMesh;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
|
|
@ -76,10 +76,10 @@ class ConcaveMesh : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
ConcaveMesh(rp3d::CollisionWorld* world, const std::string& meshPath);
|
||||
ConcaveMesh(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath);
|
||||
|
||||
/// Constructor
|
||||
ConcaveMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
|
||||
ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
|
||||
|
||||
/// Destructor
|
||||
~ConcaveMesh();
|
||||
|
|
|
|||
|
|
@ -27,8 +27,8 @@
|
|||
#include "ConvexMesh.h"
|
||||
|
||||
// Constructor
|
||||
ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath)
|
||||
: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
ConvexMesh::ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath)
|
||||
: PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
|
|
@ -53,11 +53,11 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath)
|
|||
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
// Create the polyhedron mesh
|
||||
mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray);
|
||||
mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray);
|
||||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and
|
||||
// do not forget to delete it at the end
|
||||
mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh);
|
||||
mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -74,8 +74,8 @@ ConvexMesh::ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath)
|
|||
}
|
||||
|
||||
// Constructor
|
||||
ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
|
||||
: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
ConvexMesh::ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath)
|
||||
: PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
|
|
@ -100,11 +100,11 @@ ConvexMesh::ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std
|
|||
rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
|
||||
|
||||
// Create the polyhedron mesh
|
||||
mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray);
|
||||
mPolyhedronMesh = mPhysicsCommon.createPolyhedronMesh(mPolygonVertexArray);
|
||||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and do
|
||||
// not forget to delete it at the end
|
||||
mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh);
|
||||
mConvexShape = mPhysicsCommon.createConvexMeshShape(mPolyhedronMesh);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -135,10 +135,10 @@ ConvexMesh::~ConvexMesh() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
|
||||
delete mPolyhedronMesh;
|
||||
mPhysicsCommon.destroyConvexMeshShape(mConvexShape);
|
||||
mPhysicsCommon.destroyPolyhedronMesh(mPolyhedronMesh);
|
||||
delete mPolygonVertexArray;
|
||||
delete[] mPolygonFaces;
|
||||
delete mConvexShape;
|
||||
}
|
||||
|
||||
// Render the sphere at the correct position and with the correct orientation
|
||||
|
|
|
|||
|
|
@ -79,10 +79,10 @@ class ConvexMesh : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
ConvexMesh(rp3d::CollisionWorld* world, const std::string& meshPath);
|
||||
ConvexMesh(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshPath);
|
||||
|
||||
/// Constructor
|
||||
ConvexMesh(float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
|
||||
ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath);
|
||||
|
||||
/// Destructor
|
||||
~ConvexMesh();
|
||||
|
|
|
|||
|
|
@ -34,8 +34,8 @@ openglframework::VertexArrayObject Dumbbell::mVAO;
|
|||
int Dumbbell::totalNbDumbbells = 0;
|
||||
|
||||
// Constructor
|
||||
Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "dumbbell.obj") {
|
||||
Dumbbell::Dumbbell(rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj") {
|
||||
|
||||
// Identity scaling matrix
|
||||
mScalingMatrix.setToIdentity();
|
||||
|
|
@ -47,7 +47,7 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo
|
|||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
|
||||
const rp3d::decimal massSphere = rp3d::decimal(2.0);
|
||||
mSphereShape = new rp3d::SphereShape(radiusSphere);
|
||||
mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere);
|
||||
|
||||
// Create a capsule collision shape for the middle of the dumbbell
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
|
|
@ -55,7 +55,7 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo
|
|||
const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
|
||||
const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
|
||||
const rp3d::decimal massCylinder = rp3d::decimal(1.0);
|
||||
mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -89,8 +89,8 @@ Dumbbell::Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFo
|
|||
}
|
||||
|
||||
// Constructor
|
||||
Dumbbell::Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "dumbbell.obj"){
|
||||
Dumbbell::Dumbbell(reactphysics3d::PhysicsCommon &physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath)
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"){
|
||||
|
||||
// Identity scaling matrix
|
||||
mScalingMatrix.setToIdentity();
|
||||
|
|
@ -101,14 +101,14 @@ Dumbbell::Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPat
|
|||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
|
||||
mSphereShape = new rp3d::SphereShape(radiusSphere);
|
||||
mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere);
|
||||
|
||||
// Create a cylinder collision shape for the middle of the dumbbell
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
|
||||
const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
|
||||
mCapsuleShape = new rp3d::CapsuleShape(radiusCapsule, heightCapsule);
|
||||
mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule);
|
||||
|
||||
// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
|
||||
rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());
|
||||
|
|
@ -154,8 +154,8 @@ Dumbbell::~Dumbbell() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
}
|
||||
delete mSphereShape;
|
||||
delete mCapsuleShape;
|
||||
mPhysicsCommon.destroySphereShape(mSphereShape);
|
||||
mPhysicsCommon.destroyCapsuleShape(mCapsuleShape);
|
||||
totalNbDumbbells--;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -82,10 +82,10 @@ class Dumbbell : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Dumbbell(rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Dumbbell(rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
Dumbbell(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Destructor
|
||||
~Dumbbell();
|
||||
|
|
|
|||
|
|
@ -28,8 +28,8 @@
|
|||
#include "PerlinNoise.h"
|
||||
|
||||
// Constructor
|
||||
HeightField::HeightField(rp3d::CollisionWorld* world)
|
||||
: mVBOVertices(GL_ARRAY_BUFFER),
|
||||
HeightField::HeightField(rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world)
|
||||
: PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
|
|
@ -44,7 +44,7 @@ HeightField::HeightField(rp3d::CollisionWorld* world)
|
|||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and
|
||||
// do not forget to delete it at the end
|
||||
mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
|
||||
mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
|
||||
mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
|
@ -62,8 +62,8 @@ HeightField::HeightField(rp3d::CollisionWorld* world)
|
|||
}
|
||||
|
||||
// Constructor
|
||||
HeightField::HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld)
|
||||
: mVBOVertices(GL_ARRAY_BUFFER),
|
||||
HeightField::HeightField(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld)
|
||||
: PhysicsObject(physicsCommon), mVBOVertices(GL_ARRAY_BUFFER),
|
||||
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
||||
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
||||
|
||||
|
|
@ -78,7 +78,7 @@ HeightField::HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld)
|
|||
|
||||
// Create the collision shape for the rigid body (convex mesh shape) and
|
||||
// do not forget to delete it at the end
|
||||
mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
|
||||
mHeightFieldShape = mPhysicsCommon.createHeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
|
||||
mHeightData, rp3d::HeightFieldShape::HeightDataType::HEIGHT_FLOAT_TYPE);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
|
@ -110,7 +110,7 @@ HeightField::~HeightField() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
|
||||
delete mHeightFieldShape;
|
||||
mPhysicsCommon.destroyHeightFieldShape(mHeightFieldShape);
|
||||
}
|
||||
|
||||
// Render the sphere at the correct position and with the correct orientation
|
||||
|
|
|
|||
|
|
@ -89,10 +89,10 @@ class HeightField : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
HeightField(rp3d::CollisionWorld* world);
|
||||
HeightField(reactphysics3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world);
|
||||
|
||||
/// Constructor
|
||||
HeightField(float mass, rp3d::DynamicsWorld* dynamicsWorld);
|
||||
HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::DynamicsWorld* dynamicsWorld);
|
||||
|
||||
/// Destructor
|
||||
~HeightField();
|
||||
|
|
|
|||
|
|
@ -27,7 +27,8 @@
|
|||
#include "PhysicsObject.h"
|
||||
|
||||
/// Constructor
|
||||
PhysicsObject::PhysicsObject() : openglframework::Mesh() {
|
||||
PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon)
|
||||
: openglframework::Mesh(), mPhysicsCommon(physicsCommon) {
|
||||
|
||||
mBody = nullptr;
|
||||
mColor = openglframework::Color(1, 1, 1, 1);
|
||||
|
|
@ -35,7 +36,7 @@ PhysicsObject::PhysicsObject() : openglframework::Mesh() {
|
|||
}
|
||||
|
||||
/// Constructor
|
||||
PhysicsObject::PhysicsObject(const std::string& meshPath) : PhysicsObject() {
|
||||
PhysicsObject::PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::string& meshPath) : PhysicsObject(physicsCommon) {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this);
|
||||
|
|
|
|||
|
|
@ -35,6 +35,9 @@ class PhysicsObject : public openglframework::Mesh {
|
|||
|
||||
protected:
|
||||
|
||||
/// Reference to the physics common object
|
||||
rp3d::PhysicsCommon& mPhysicsCommon;
|
||||
|
||||
/// Body used to simulate the dynamics of the box
|
||||
rp3d::CollisionBody* mBody;
|
||||
|
||||
|
|
@ -54,10 +57,10 @@ class PhysicsObject : public openglframework::Mesh {
|
|||
public:
|
||||
|
||||
/// Constructor
|
||||
PhysicsObject();
|
||||
PhysicsObject(rp3d::PhysicsCommon& physicsCommon);
|
||||
|
||||
/// Constructor
|
||||
PhysicsObject(const std::string& meshPath);
|
||||
PhysicsObject(rp3d::PhysicsCommon& physicsCommon, const std::string& meshPath);
|
||||
|
||||
/// Update the transform matrix of the object
|
||||
virtual void updateTransform(float interpolationFactor)=0;
|
||||
|
|
|
|||
|
|
@ -34,9 +34,9 @@ openglframework::VertexArrayObject Sphere::mVAO;
|
|||
int Sphere::totalNbSpheres = 0;
|
||||
|
||||
// Constructor
|
||||
Sphere::Sphere(float radius, rp3d::CollisionWorld* world,
|
||||
Sphere::Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "sphere.obj"), mRadius(radius) {
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
||||
|
|
@ -47,7 +47,7 @@ Sphere::Sphere(float radius, rp3d::CollisionWorld* world,
|
|||
// Create the collision shape for the rigid body (sphere shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mCollisionShape = new rp3d::SphereShape(mRadius);
|
||||
mCollisionShape = mPhysicsCommon.createSphereShape(mRadius);
|
||||
//mCollisionShape->setLocalScaling(rp3d::Vector3(2, 2, 2));
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
|
@ -69,9 +69,9 @@ Sphere::Sphere(float radius, rp3d::CollisionWorld* world,
|
|||
}
|
||||
|
||||
// Constructor
|
||||
Sphere::Sphere(float radius, float mass, reactphysics3d::DynamicsWorld* world,
|
||||
Sphere::Sphere(float radius, float mass, rp3d::PhysicsCommon& physicsCommon,reactphysics3d::DynamicsWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: PhysicsObject(meshFolderPath + "sphere.obj"), mRadius(radius) {
|
||||
: PhysicsObject(physicsCommon, meshFolderPath + "sphere.obj"), mRadius(radius) {
|
||||
|
||||
// Compute the scaling matrix
|
||||
mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
||||
|
|
@ -82,7 +82,7 @@ Sphere::Sphere(float radius, float mass, reactphysics3d::DynamicsWorld* world,
|
|||
// Create the collision shape for the rigid body (sphere shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
mCollisionShape = new rp3d::SphereShape(mRadius);
|
||||
mCollisionShape = mPhysicsCommon.createSphereShape(mRadius);
|
||||
|
||||
mPreviousTransform = rp3d::Transform::identity();
|
||||
|
||||
|
|
@ -118,7 +118,7 @@ Sphere::~Sphere() {
|
|||
mVBOTextureCoords.destroy();
|
||||
mVAO.destroy();
|
||||
}
|
||||
delete mCollisionShape;
|
||||
mPhysicsCommon.destroySphereShape(mCollisionShape);
|
||||
totalNbSpheres--;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -79,10 +79,10 @@ class Sphere : public PhysicsObject {
|
|||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Sphere(float radius, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
Sphere(float radius, rp3d::PhysicsCommon& physicsCommon, rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Sphere(float radius, float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
Sphere(float radius, float mass, reactphysics3d::PhysicsCommon &physicsCommon, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
|
||||
/// Destructor
|
||||
~Sphere();
|
||||
|
|
|
|||
116
testbed/meshes/sandbox.obj
Normal file
116
testbed/meshes/sandbox.obj
Normal file
|
|
@ -0,0 +1,116 @@
|
|||
# Blender v2.79 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
v -31.880749 -0.589469 22.622011
|
||||
v -25.786182 -0.589469 22.622011
|
||||
v -19.691614 -0.589469 22.622011
|
||||
v -13.597046 -0.589469 22.622011
|
||||
v -7.502479 -0.589469 22.622011
|
||||
v -1.407912 -0.589469 22.622011
|
||||
v 4.686658 -0.589469 22.622011
|
||||
v 10.781222 -0.589469 22.622011
|
||||
v -31.880749 -0.589469 16.527445
|
||||
v -25.786182 -0.589469 16.527445
|
||||
v -19.691614 -0.589469 16.527445
|
||||
v -13.597046 -0.589469 16.527445
|
||||
v -7.502479 -0.589469 16.527445
|
||||
v -1.407912 -0.589469 16.527445
|
||||
v 4.686658 -0.589469 16.527445
|
||||
v 10.781222 -0.589469 16.527445
|
||||
v -31.880749 -0.589469 10.432877
|
||||
v -25.786182 -0.589469 10.432877
|
||||
v -19.691614 -13.260081 10.432877
|
||||
v -13.597046 -13.260081 10.432877
|
||||
v -7.502479 -13.260081 10.432877
|
||||
v -1.407912 -13.260081 10.432877
|
||||
v 4.686658 -13.260081 10.432877
|
||||
v 10.781222 -0.589469 10.432877
|
||||
v -31.880749 -0.589469 4.338308
|
||||
v -25.786182 -0.589469 4.338308
|
||||
v -19.691614 -13.260081 4.338308
|
||||
v -13.597046 -13.260081 4.338308
|
||||
v -7.502479 -13.260081 4.338308
|
||||
v -1.407912 -13.260081 4.338308
|
||||
v 4.686658 -13.260081 4.338308
|
||||
v 10.781222 -0.589469 4.338308
|
||||
v -31.880749 -0.589469 -1.756259
|
||||
v -25.786182 -0.589469 -1.756259
|
||||
v -19.691614 -13.260081 -1.756259
|
||||
v -13.597046 -13.260081 -1.756259
|
||||
v -7.502479 -13.260081 -1.756259
|
||||
v -1.407912 -13.260081 -1.756259
|
||||
v 4.686658 -13.260081 -1.756259
|
||||
v 10.781222 -0.589469 -1.756259
|
||||
v -31.880749 -0.589469 -7.850826
|
||||
v -25.786182 -0.589469 -7.850826
|
||||
v -19.691614 -13.260081 -7.850826
|
||||
v -13.597046 -13.260081 -7.850826
|
||||
v -7.502479 -13.260081 -7.850826
|
||||
v -1.407912 -13.260081 -7.850826
|
||||
v 4.686658 -13.260081 -7.850826
|
||||
v 10.781222 -0.589469 -7.850826
|
||||
v -31.880749 -0.589469 -13.945395
|
||||
v -25.786182 -0.589469 -13.945395
|
||||
v -19.691614 -0.589469 -13.945395
|
||||
v -13.597046 -0.589469 -13.945395
|
||||
v -7.502479 -0.589469 -13.945395
|
||||
v -1.407912 -0.589469 -13.945395
|
||||
v 4.686658 -0.589469 -13.945395
|
||||
v 10.781222 -0.589469 -13.945395
|
||||
v -31.880749 -0.589469 -20.039961
|
||||
v -25.786182 -0.589469 -20.039961
|
||||
v -19.691614 -0.589469 -20.039961
|
||||
v -13.597046 -0.589469 -20.039961
|
||||
v -7.502479 -0.589469 -20.039961
|
||||
v -1.407912 -0.589469 -20.039961
|
||||
v 4.686658 -0.589469 -20.039961
|
||||
v 10.781222 -0.589469 -20.039961
|
||||
s off
|
||||
f 1 2 10 9
|
||||
f 2 3 11 10
|
||||
f 3 4 12 11
|
||||
f 4 5 13 12
|
||||
f 5 6 14 13
|
||||
f 6 7 15 14
|
||||
f 7 8 16 15
|
||||
f 9 10 18 17
|
||||
f 10 11 19 18
|
||||
f 11 12 20 19
|
||||
f 12 13 21 20
|
||||
f 13 14 22 21
|
||||
f 14 15 23 22
|
||||
f 15 16 24 23
|
||||
f 17 18 26 25
|
||||
f 18 19 27 26
|
||||
f 19 20 28 27
|
||||
f 20 21 29 28
|
||||
f 21 22 30 29
|
||||
f 22 23 31 30
|
||||
f 23 24 32 31
|
||||
f 25 26 34 33
|
||||
f 26 27 35 34
|
||||
f 27 28 36 35
|
||||
f 28 29 37 36
|
||||
f 29 30 38 37
|
||||
f 30 31 39 38
|
||||
f 31 32 40 39
|
||||
f 33 34 42 41
|
||||
f 34 35 43 42
|
||||
f 35 36 44 43
|
||||
f 36 37 45 44
|
||||
f 37 38 46 45
|
||||
f 38 39 47 46
|
||||
f 39 40 48 47
|
||||
f 41 42 50 49
|
||||
f 42 43 51 50
|
||||
f 43 44 52 51
|
||||
f 44 45 53 52
|
||||
f 45 46 54 53
|
||||
f 46 47 55 54
|
||||
f 47 48 56 55
|
||||
f 49 50 58 57
|
||||
f 50 51 59 58
|
||||
f 51 52 60 59
|
||||
f 52 53 61 60
|
||||
f 53 54 62 61
|
||||
f 54 55 63 62
|
||||
f 55 56 64 63
|
||||
|
|
@ -52,12 +52,12 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
mPhysicsWorld = new rp3d::CollisionWorld(worldSettings);
|
||||
mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
|
||||
|
||||
// ---------- Sphere 1 ---------- //
|
||||
|
||||
// Create a sphere and a corresponding collision body in the dynamics world
|
||||
mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath);
|
||||
mSphere1 = new Sphere(4, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mSphere1);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -69,7 +69,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Sphere 2 ---------- //
|
||||
|
||||
// Create a sphere and a corresponding collision body in the dynamics world
|
||||
mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath);
|
||||
mSphere2 = new Sphere(2, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mSphere2);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -81,7 +81,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Capsule 1 ---------- //
|
||||
|
||||
// Create a cylinder and a corresponding collision body in the dynamics world
|
||||
mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
|
||||
mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mCapsule1);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -92,7 +92,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Capsule 2 ---------- //
|
||||
|
||||
// Create a cylinder and a corresponding collision body in the dynamics world
|
||||
mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
|
||||
mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mCapsule2);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -103,7 +103,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Concave Mesh ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj");
|
||||
mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
|
||||
mAllShapes.push_back(mConcaveMesh);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -114,7 +114,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Box 1 ---------- //
|
||||
|
||||
// Create a cylinder and a corresponding collision body in the dynamics world
|
||||
mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath);
|
||||
mBox1 = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mBox1);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -125,7 +125,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Box 2 ---------- //
|
||||
|
||||
// Create a cylinder and a corresponding collision body in the dynamics world
|
||||
mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath);
|
||||
mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mAllShapes.push_back(mBox2);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -136,7 +136,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Convex Mesh ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
|
||||
mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
|
||||
mAllShapes.push_back(mConvexMesh);
|
||||
|
||||
// Set the color
|
||||
|
|
@ -147,7 +147,7 @@ CollisionDetectionScene::CollisionDetectionScene(const std::string& name, Engine
|
|||
// ---------- Heightfield ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mHeightField = new HeightField(mPhysicsWorld);
|
||||
mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
|
||||
|
||||
// Set the color
|
||||
mHeightField->setColor(mGreyColorDemo);
|
||||
|
|
@ -212,7 +212,7 @@ CollisionDetectionScene::~CollisionDetectionScene() {
|
|||
VisualContactPoint::destroyStaticData();
|
||||
|
||||
// Destroy the collision world
|
||||
delete mPhysicsWorld;
|
||||
mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
|
||||
}
|
||||
|
||||
// Take a step for the simulation
|
||||
|
|
|
|||
|
|
@ -49,14 +49,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath);
|
||||
Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -75,7 +75,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
for (int i=0; i<NB_BOXES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
box->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -94,7 +94,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
for (int i=0; i<NB_SPHERES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, getDynamicsWorld(), meshFolderPath);
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Add some rolling resistance
|
||||
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
|
||||
|
|
@ -117,7 +117,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
|
||||
getDynamicsWorld(), meshFolderPath);
|
||||
mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
|
||||
|
||||
|
|
@ -138,7 +138,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
for (int i=0; i<NB_MESHES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
|
||||
// Set the box color
|
||||
mesh->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -155,7 +155,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
|
|||
|
||||
// ---------- Create the floor ---------
|
||||
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mPhysicsObjects.push_back(mFloor);
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -195,7 +195,7 @@ CollisionShapesScene::~CollisionShapesScene() {
|
|||
}
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete mPhysicsWorld;
|
||||
mPhysicsCommon.destroyDynamicsWorld(static_cast<rp3d::DynamicsWorld*>(mPhysicsWorld));
|
||||
}
|
||||
|
||||
/// Reset the scene
|
||||
|
|
|
|||
|
|
@ -49,7 +49,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
|
|
@ -57,7 +57,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath);
|
||||
Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -76,7 +76,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_BOXES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
box->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -95,7 +95,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_SPHERES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, getDynamicsWorld(), meshFolderPath);
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Add some rolling resistance
|
||||
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
|
||||
|
|
@ -118,7 +118,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
|
||||
getDynamicsWorld(), meshFolderPath);
|
||||
mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
|
||||
|
||||
|
|
@ -139,7 +139,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_MESHES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
|
||||
// Set the box color
|
||||
mesh->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -160,7 +160,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
|
|||
rp3d::decimal mass = 1.0;
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
mConcaveMesh = new ConcaveMesh(mass, getDynamicsWorld(), meshFolderPath + "city.obj");
|
||||
mConcaveMesh = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "city.obj");
|
||||
|
||||
// Set the mesh as beeing static
|
||||
mConcaveMesh->getRigidBody()->setType(rp3d::BodyType::STATIC);
|
||||
|
|
@ -202,7 +202,7 @@ ConcaveMeshScene::~ConcaveMeshScene() {
|
|||
}
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete getDynamicsWorld();
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
// Reset the scene
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
|
|
@ -55,7 +55,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
|
|||
for (int i=0; i<NB_CUBES; i++) {
|
||||
|
||||
// Create a cube and a corresponding rigid in the dynamics world
|
||||
Box* cube = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
cube->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -73,7 +73,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
|
|||
// ------------------------- FLOOR ----------------------- //
|
||||
|
||||
// Create the floor
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor->setColor(mGreyColorDemo);
|
||||
mFloor->setSleepingColor(mGreyColorDemo);
|
||||
|
||||
|
|
@ -113,7 +113,7 @@ CubesScene::~CubesScene() {
|
|||
delete mFloor;
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete getDynamicsWorld();
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
// Reset the scene
|
||||
|
|
|
|||
|
|
@ -47,7 +47,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
|
|
@ -57,7 +57,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
|
|||
for (int j=0; j<i; j++) {
|
||||
|
||||
// Create a cube and a corresponding rigid in the dynamics world
|
||||
Box* cube = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
Box* cube = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
cube->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -76,7 +76,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
|
|||
// ------------------------- FLOOR ----------------------- //
|
||||
|
||||
// Create the floor
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor->setColor(mGreyColorDemo);
|
||||
mFloor->setSleepingColor(mGreyColorDemo);
|
||||
|
||||
|
|
@ -116,7 +116,7 @@ CubeStackScene::~CubeStackScene() {
|
|||
delete mFloor;
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete getDynamicsWorld();
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
// Reset the scene
|
||||
|
|
|
|||
|
|
@ -49,14 +49,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
Dumbbell* dumbbell = new Dumbbell(getDynamicsWorld(), meshFolderPath);
|
||||
Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -75,7 +75,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_BOXES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
box->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -94,7 +94,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_SPHERES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, getDynamicsWorld(), meshFolderPath);
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Add some rolling resistance
|
||||
sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f);
|
||||
|
|
@ -117,7 +117,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
|
||||
getDynamicsWorld(), meshFolderPath);
|
||||
mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f);
|
||||
|
||||
|
|
@ -138,7 +138,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
for (int i = 0; i<NB_MESHES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
|
||||
// Set the box color
|
||||
mesh->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
|
|
@ -159,7 +159,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
|
|||
rp3d::decimal mass = 1.0;
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
mHeightField = new HeightField(mass, getDynamicsWorld());
|
||||
mHeightField = new HeightField(mass, mPhysicsCommon, getDynamicsWorld());
|
||||
|
||||
// Set the mesh as beeing static
|
||||
mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC);
|
||||
|
|
@ -201,7 +201,7 @@ HeightFieldScene::~HeightFieldScene() {
|
|||
}
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete getDynamicsWorld();
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
// Reset the scene
|
||||
|
|
|
|||
|
|
@ -48,7 +48,7 @@ JointsScene::JointsScene(const std::string& name, EngineSettings& settings)
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
rp3d::DynamicsWorld* dynamicsWorld = new rp3d::DynamicsWorld(gravity, worldSettings);
|
||||
rp3d::DynamicsWorld* dynamicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
dynamicsWorld->setEventListener(this);
|
||||
mPhysicsWorld = dynamicsWorld;
|
||||
|
||||
|
|
@ -115,7 +115,7 @@ JointsScene::~JointsScene() {
|
|||
delete mFloor;
|
||||
|
||||
// Destroy the dynamics world
|
||||
delete getDynamicsWorld();
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
// Update the physics world (take a simulation step)
|
||||
|
|
@ -214,7 +214,7 @@ void JointsScene::createBallAndSocketJoints() {
|
|||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, boxMass,
|
||||
getDynamicsWorld(), mMeshFolderPath);
|
||||
mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mBallAndSocketJointChainBoxes[i]->setTransform(rp3d::Transform(positionBox, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -266,7 +266,7 @@ void JointsScene::createSliderJoint() {
|
|||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 box1Dimension(2, 4, 2);
|
||||
mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mSliderJointBottomBox = new Box(box1Dimension , BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mSliderJointBottomBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -288,7 +288,7 @@ void JointsScene::createSliderJoint() {
|
|||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
|
||||
mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mSliderJointTopBox = new Box(box2Dimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mSliderJointTopBox->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -330,7 +330,7 @@ void JointsScene::createPropellerHingeJoint() {
|
|||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 boxDimension(10, 1, 1);
|
||||
mPropellerBox = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mPropellerBox = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mPropellerBox->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -371,7 +371,7 @@ void JointsScene::createFixedJoints() {
|
|||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
|
||||
mFixedJointBox1 = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFixedJointBox1 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFixedJointBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -389,7 +389,7 @@ void JointsScene::createFixedJoints() {
|
|||
rp3d::Vector3 positionBox2(-5, 7, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mFixedJointBox2 = new Box(boxDimension, BOX_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFixedJointBox2 = new Box(boxDimension, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFixedJointBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -430,7 +430,7 @@ void JointsScene::createFloor() {
|
|||
|
||||
// Create the floor
|
||||
rp3d::Vector3 floorPosition(0, 0, 0);
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath);
|
||||
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
mFloor->setColor(mGreyColorDemo);
|
||||
|
|
|
|||
272
testbed/scenes/pile/PileScene.cpp
Normal file
272
testbed/scenes/pile/PileScene.cpp
Normal file
|
|
@ -0,0 +1,272 @@
|
|||
/********************************************************************************
|
||||
* 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 "PileScene.h"
|
||||
|
||||
// Namespaces
|
||||
using namespace openglframework;
|
||||
using namespace pilescene;
|
||||
|
||||
// Constructor
|
||||
PileScene::PileScene(const std::string& name, EngineSettings& settings)
|
||||
: SceneDemo(name, settings, SCENE_RADIUS) {
|
||||
|
||||
std::string meshFolderPath("meshes/");
|
||||
|
||||
// Compute the radius and the center of the scene
|
||||
openglframework::Vector3 center(0, 5, 0);
|
||||
|
||||
// Set the center of the scene
|
||||
setScenePosition(center, SCENE_RADIUS);
|
||||
|
||||
// Gravity vector in the dynamics world
|
||||
rp3d::Vector3 gravity(0, -9.81f, 0);
|
||||
|
||||
rp3d::WorldSettings worldSettings;
|
||||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
mPhysicsWorld = mPhysicsCommon.createDynamicsWorld(gravity, worldSettings);
|
||||
|
||||
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
Dumbbell* dumbbell = new Dumbbell(mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
dumbbell->setSleepingColor(mRedColorDemo);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
|
||||
// Add the mesh the list of dumbbells in the scene
|
||||
mDumbbells.push_back(dumbbell);
|
||||
mPhysicsObjects.push_back(dumbbell);
|
||||
}
|
||||
|
||||
// Create all the boxes of the scene
|
||||
for (int i=0; i<NB_BOXES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
box->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
box->setSleepingColor(mRedColorDemo);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = box->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
|
||||
// Add the sphere the list of sphere in the scene
|
||||
mBoxes.push_back(box);
|
||||
mPhysicsObjects.push_back(box);
|
||||
}
|
||||
|
||||
// Create all the spheres of the scene
|
||||
for (int i=0; i<NB_SPHERES; i++) {
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
// Add some rolling resistance
|
||||
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
|
||||
|
||||
// Set the box color
|
||||
sphere->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
sphere->setSleepingColor(mRedColorDemo);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
|
||||
// Add the sphere the list of sphere in the scene
|
||||
mSpheres.push_back(sphere);
|
||||
mPhysicsObjects.push_back(sphere);
|
||||
}
|
||||
|
||||
// Create all the capsules of the scene
|
||||
for (int i=0; i<NB_CAPSULES; i++) {
|
||||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
|
||||
mPhysicsCommon, getDynamicsWorld(), meshFolderPath);
|
||||
|
||||
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
|
||||
|
||||
// Set the box color
|
||||
capsule->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
capsule->setSleepingColor(mRedColorDemo);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
|
||||
// Add the cylinder the list of sphere in the scene
|
||||
mCapsules.push_back(capsule);
|
||||
mPhysicsObjects.push_back(capsule);
|
||||
}
|
||||
|
||||
// Create all the convex meshes of the scene
|
||||
for (int i=0; i<NB_MESHES; i++) {
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "convexmesh.obj");
|
||||
|
||||
// Set the box color
|
||||
mesh->setColor(mDemoColors[i % mNbDemoColors]);
|
||||
mesh->setSleepingColor(mRedColorDemo);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
|
||||
// Add the mesh the list of sphere in the scene
|
||||
mConvexMeshes.push_back(mesh);
|
||||
mPhysicsObjects.push_back(mesh);
|
||||
}
|
||||
|
||||
// ---------- Create the triangular mesh ---------- //
|
||||
|
||||
// Position
|
||||
rp3d::decimal mass = 1.0;
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
mSandbox = new ConcaveMesh(mass, mPhysicsCommon, getDynamicsWorld(), meshFolderPath + "sandbox.obj");
|
||||
|
||||
// Set the mesh as beeing static
|
||||
mSandbox->getRigidBody()->setType(rp3d::BodyType::STATIC);
|
||||
|
||||
// Set the box color
|
||||
mSandbox->setColor(mGreyColorDemo);
|
||||
mSandbox->setSleepingColor(mGreyColorDemo);
|
||||
|
||||
mPhysicsObjects.push_back(mSandbox);
|
||||
|
||||
// Change the material properties of the rigid body
|
||||
rp3d::Material& material = mSandbox->getRigidBody()->getMaterial();
|
||||
material.setBounciness(rp3d::decimal(0.2));
|
||||
material.setFrictionCoefficient(rp3d::decimal(0.1));
|
||||
|
||||
// Get the physics engine parameters
|
||||
mEngineSettings.isGravityEnabled = getDynamicsWorld()->isGravityEnabled();
|
||||
rp3d::Vector3 gravityVector = getDynamicsWorld()->getGravity();
|
||||
mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
|
||||
mEngineSettings.isSleepingEnabled = getDynamicsWorld()->isSleepingEnabled();
|
||||
mEngineSettings.sleepLinearVelocity = getDynamicsWorld()->getSleepLinearVelocity();
|
||||
mEngineSettings.sleepAngularVelocity = getDynamicsWorld()->getSleepAngularVelocity();
|
||||
mEngineSettings.nbPositionSolverIterations = getDynamicsWorld()->getNbIterationsPositionSolver();
|
||||
mEngineSettings.nbVelocitySolverIterations = getDynamicsWorld()->getNbIterationsVelocitySolver();
|
||||
mEngineSettings.timeBeforeSleep = getDynamicsWorld()->getTimeBeforeSleep();
|
||||
}
|
||||
|
||||
// Destructor
|
||||
PileScene::~PileScene() {
|
||||
|
||||
// Destroy all the physics objects of the scene
|
||||
for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
|
||||
|
||||
// Destroy the object
|
||||
delete (*it);
|
||||
}
|
||||
|
||||
// Destroy the dynamics world
|
||||
mPhysicsCommon.destroyDynamicsWorld(getDynamicsWorld());
|
||||
}
|
||||
|
||||
/// Reset the scene
|
||||
void PileScene::reset() {
|
||||
|
||||
const float radius = 3.0f;
|
||||
|
||||
for (uint i = 0; i<NB_COMPOUND_SHAPES; i++) {
|
||||
|
||||
// Position
|
||||
float angle = i * 30.0f;
|
||||
rp3d::Vector3 position(radius * std::cos(angle),
|
||||
125 + i * (DUMBBELL_HEIGHT + 0.3f),
|
||||
radius * std::sin(angle));
|
||||
|
||||
mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
||||
}
|
||||
|
||||
// Create all the boxes of the scene
|
||||
for (uint i = 0; i<NB_BOXES; i++) {
|
||||
|
||||
// Position
|
||||
float angle = i * 30.0f;
|
||||
rp3d::Vector3 position(radius * std::cos(angle),
|
||||
85 + i * (BOX_SIZE.y + 0.8f),
|
||||
radius * std::sin(angle));
|
||||
|
||||
mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
||||
}
|
||||
|
||||
// Create all the spheres of the scene
|
||||
for (uint i = 0; i<NB_SPHERES; i++) {
|
||||
|
||||
// Position
|
||||
float angle = i * 35.0f;
|
||||
rp3d::Vector3 position(radius * std::cos(angle),
|
||||
75 + i * (SPHERE_RADIUS + 0.8f),
|
||||
radius * std::sin(angle));
|
||||
|
||||
mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
||||
}
|
||||
|
||||
// Create all the capsules of the scene
|
||||
for (uint i = 0; i<NB_CAPSULES; i++) {
|
||||
|
||||
// Position
|
||||
float angle = i * 45.0f;
|
||||
rp3d::Vector3 position(radius * std::cos(angle),
|
||||
40 + i * (CAPSULE_HEIGHT + 0.3f),
|
||||
radius * std::sin(angle));
|
||||
|
||||
mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
||||
}
|
||||
|
||||
// Create all the convex meshes of the scene
|
||||
for (uint i = 0; i<NB_MESHES; i++) {
|
||||
|
||||
// Position
|
||||
float angle = i * 30.0f;
|
||||
rp3d::Vector3 position(radius * std::cos(angle),
|
||||
30 + i * (CAPSULE_HEIGHT + 0.3f),
|
||||
radius * std::sin(angle));
|
||||
|
||||
mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
||||
}
|
||||
|
||||
// ---------- Create the triangular mesh ---------- //
|
||||
|
||||
mSandbox->setTransform(rp3d::Transform::identity());
|
||||
}
|
||||
106
testbed/scenes/pile/PileScene.h
Normal file
106
testbed/scenes/pile/PileScene.h
Normal file
|
|
@ -0,0 +1,106 @@
|
|||
/********************************************************************************
|
||||
* 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 PILE_SCENE_H
|
||||
#define PILE_SCENE_H
|
||||
|
||||
// Libraries
|
||||
#include "openglframework.h"
|
||||
#include "reactphysics3d.h"
|
||||
#include "SceneDemo.h"
|
||||
#include "Sphere.h"
|
||||
#include "Box.h"
|
||||
#include "Capsule.h"
|
||||
#include "ConvexMesh.h"
|
||||
#include "ConcaveMesh.h"
|
||||
#include "Dumbbell.h"
|
||||
#include "VisualContactPoint.h"
|
||||
|
||||
namespace pilescene {
|
||||
|
||||
// Constants
|
||||
const float SCENE_RADIUS = 30.0f;
|
||||
const int NB_BOXES = 150;
|
||||
const int NB_SPHERES = 80;
|
||||
const int NB_CAPSULES = 5;
|
||||
const int NB_MESHES = 0;
|
||||
const int NB_COMPOUND_SHAPES = 0;
|
||||
const openglframework::Vector3 BOX_SIZE(2, 2, 2);
|
||||
const float SPHERE_RADIUS = 1.5f;
|
||||
const float CONE_RADIUS = 2.0f;
|
||||
const float CONE_HEIGHT = 3.0f;
|
||||
const float CYLINDER_RADIUS = 1.0f;
|
||||
const float CYLINDER_HEIGHT = 5.0f;
|
||||
const float CAPSULE_RADIUS = 1.0f;
|
||||
const float CAPSULE_HEIGHT = 1.0f;
|
||||
const float DUMBBELL_HEIGHT = 1.0f;
|
||||
const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters
|
||||
const float BOX_MASS = 1.0f;
|
||||
const float CONE_MASS = 1.0f;
|
||||
const float CYLINDER_MASS = 1.0f;
|
||||
const float CAPSULE_MASS = 1.0f;
|
||||
const float MESH_MASS = 1.0f;
|
||||
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
|
||||
|
||||
// Class PileScene
|
||||
class PileScene : public SceneDemo {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// All the boxes of the scene
|
||||
std::vector<Box*> mBoxes;
|
||||
|
||||
std::vector<Sphere*> mSpheres;
|
||||
|
||||
std::vector<Capsule*> mCapsules;
|
||||
|
||||
/// All the convex meshes of the scene
|
||||
std::vector<ConvexMesh*> mConvexMeshes;
|
||||
|
||||
/// All the dumbbell of the scene
|
||||
std::vector<Dumbbell*> mDumbbells;
|
||||
|
||||
/// Sandbox for the floor
|
||||
ConcaveMesh* mSandbox;
|
||||
|
||||
public:
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
PileScene(const std::string& name, EngineSettings& settings);
|
||||
|
||||
/// Destructor
|
||||
virtual ~PileScene() override;
|
||||
|
||||
/// Reset the scene
|
||||
virtual void reset() override;
|
||||
};
|
||||
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -48,12 +48,12 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
worldSettings.worldName = name;
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
mPhysicsWorld = new rp3d::CollisionWorld(worldSettings);
|
||||
mPhysicsWorld = mPhysicsCommon.createCollisionWorld(worldSettings);
|
||||
|
||||
// ---------- Dumbbell ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mDumbbell = new Dumbbell(mPhysicsWorld, mMeshFolderPath);
|
||||
mDumbbell = new Dumbbell(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
|
||||
// Set the box color
|
||||
mDumbbell->setColor(mGreyColorDemo);
|
||||
|
|
@ -63,7 +63,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
// ---------- Box ---------- //
|
||||
|
||||
// Create a box and a corresponding collision body in the dynamics world
|
||||
mBox = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath);
|
||||
mBox = new Box(BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
mBox->getCollisionBody()->setIsActive(false);
|
||||
|
||||
// Set the box color
|
||||
|
|
@ -74,7 +74,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
// ---------- Sphere ---------- //
|
||||
|
||||
// Create a sphere and a corresponding collision body in the dynamics world
|
||||
mSphere = new Sphere(SPHERE_RADIUS, mPhysicsWorld, mMeshFolderPath);
|
||||
mSphere = new Sphere(SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
|
||||
// Set the color
|
||||
mSphere->setColor(mGreyColorDemo);
|
||||
|
|
@ -85,7 +85,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
openglframework::Vector3 position6(0, 0, 0);
|
||||
|
||||
// Create a cylinder and a corresponding collision body in the dynamics world
|
||||
mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
|
||||
mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
||||
|
||||
// Set the color
|
||||
mCapsule->setColor(mGreyColorDemo);
|
||||
|
|
@ -95,7 +95,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
// ---------- Convex Mesh ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
|
||||
mConvexMesh = new ConvexMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
|
||||
|
||||
// Set the color
|
||||
mConvexMesh->setColor(mGreyColorDemo);
|
||||
|
|
@ -105,7 +105,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
// ---------- Concave Mesh ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj");
|
||||
mConcaveMesh = new ConcaveMesh(mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "city.obj");
|
||||
|
||||
// Set the color
|
||||
mConcaveMesh->setColor(mGreyColorDemo);
|
||||
|
|
@ -115,7 +115,7 @@ RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
|
|||
// ---------- Heightfield ---------- //
|
||||
|
||||
// Create a convex mesh and a corresponding collision body in the dynamics world
|
||||
mHeightField = new HeightField(mPhysicsWorld);
|
||||
mHeightField = new HeightField(mPhysicsCommon, mPhysicsWorld);
|
||||
|
||||
// Set the color
|
||||
mHeightField->setColor(mGreyColorDemo);
|
||||
|
|
@ -251,7 +251,7 @@ RaycastScene::~RaycastScene() {
|
|||
VisualContactPoint::destroyStaticData();
|
||||
|
||||
// Destroy the collision world
|
||||
delete mPhysicsWorld;
|
||||
mPhysicsCommon.destroyCollisionWorld(mPhysicsWorld);
|
||||
|
||||
// Destroy the lines
|
||||
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
|
||||
|
|
|
|||
|
|
@ -36,12 +36,14 @@ double Gui::mScrollY = 0.0;
|
|||
double Gui::mTimeSinceLastProfilingDisplay = 0;
|
||||
double Gui::mCachedFPS = 0;
|
||||
double Gui::mCachedUpdateTime = 0;
|
||||
double Gui::mCachedPhysicsUpdateTime = 0;
|
||||
double Gui::mCachedTotalPhysicsUpdateTime = 0;
|
||||
double Gui::mCachedPhysicsStepTime = 0;
|
||||
|
||||
// Constructor
|
||||
Gui::Gui(TestbedApplication* app)
|
||||
: mApp(app), mSimulationPanel(nullptr), mSettingsPanel(nullptr), mPhysicsPanel(nullptr),
|
||||
mRenderingPanel(nullptr), mFPSLabel(nullptr), mFrameTimeLabel(nullptr), mPhysicsTimeLabel(nullptr)
|
||||
mRenderingPanel(nullptr), mFPSLabel(nullptr), mFrameTimeLabel(nullptr), mTotalPhysicsTimeLabel(nullptr),
|
||||
mPhysicsStepTimeLabel(nullptr)
|
||||
{
|
||||
|
||||
}
|
||||
|
|
@ -78,7 +80,8 @@ void Gui::update() {
|
|||
mTimeSinceLastProfilingDisplay = mApp->mCurrentTime;
|
||||
mCachedFPS = mApp->mFPS;
|
||||
mCachedUpdateTime = mApp->mFrameTime;
|
||||
mCachedPhysicsUpdateTime = mApp->mPhysicsTime;
|
||||
mCachedTotalPhysicsUpdateTime = mApp->mTotalPhysicsTime;
|
||||
mCachedPhysicsStepTime = mApp->mPhysicsStepTime;
|
||||
}
|
||||
|
||||
// Framerate (FPS)
|
||||
|
|
@ -87,8 +90,11 @@ void Gui::update() {
|
|||
// Frame time
|
||||
mFrameTimeLabel->setCaption(std::string("Frame time : ") + floatToString(mCachedUpdateTime * 1000.0, 1) + std::string(" ms"));
|
||||
|
||||
// Physics time
|
||||
mPhysicsTimeLabel->setCaption(std::string("Physics time : ") + floatToString(mCachedPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"));
|
||||
// Total Physics time
|
||||
mTotalPhysicsTimeLabel->setCaption(std::string("Total physics time : ") + floatToString(mCachedTotalPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"));
|
||||
|
||||
// Physics step time
|
||||
mPhysicsStepTimeLabel->setCaption(std::string("Physics step time : ") + floatToString(mCachedPhysicsStepTime * 1000.0, 1) + std::string(" ms"));
|
||||
}
|
||||
|
||||
void Gui::createSimulationPanel() {
|
||||
|
|
@ -447,8 +453,11 @@ void Gui::createProfilingPanel() {
|
|||
// Update time
|
||||
mFrameTimeLabel = new Label(profilingPanel, std::string("Frame time : ") + floatToString(mCachedUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold");
|
||||
|
||||
// Update time
|
||||
mPhysicsTimeLabel = new Label(profilingPanel, std::string("Physics time : ") + floatToString(mCachedPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold");
|
||||
// Total physics time
|
||||
mTotalPhysicsTimeLabel = new Label(profilingPanel, std::string("Total physics time : ") + floatToString(mCachedTotalPhysicsUpdateTime * 1000.0, 1) + std::string(" ms"),"sans-bold");
|
||||
|
||||
// Physics step time
|
||||
mPhysicsStepTimeLabel = new Label(profilingPanel, std::string("Physics step time : ") + floatToString(mCachedPhysicsStepTime * 1000.0, 1) + std::string(" ms"),"sans-bold");
|
||||
|
||||
profilingPanel->setVisible(true);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -69,7 +69,8 @@ class Gui {
|
|||
// Profiling panel
|
||||
Label* mFPSLabel;
|
||||
Label* mFrameTimeLabel;
|
||||
Label* mPhysicsTimeLabel;
|
||||
Label* mTotalPhysicsTimeLabel;
|
||||
Label* mPhysicsStepTimeLabel;
|
||||
|
||||
std::vector<CheckBox*> mCheckboxesScenes;
|
||||
|
||||
|
|
@ -86,8 +87,11 @@ class Gui {
|
|||
/// Cached update time
|
||||
static double mCachedUpdateTime;
|
||||
|
||||
// Cached update physics time
|
||||
static double mCachedPhysicsUpdateTime;
|
||||
// Cached total update physics time
|
||||
static double mCachedTotalPhysicsUpdateTime;
|
||||
|
||||
// Cached update single physics step time
|
||||
static double mCachedPhysicsStepTime;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
|
|
|
|||
|
|
@ -96,6 +96,8 @@ class SceneDemo : public Scene {
|
|||
|
||||
std::string mMeshFolderPath;
|
||||
|
||||
rp3d::PhysicsCommon mPhysicsCommon;
|
||||
|
||||
std::vector<PhysicsObject*> mPhysicsObjects;
|
||||
|
||||
rp3d::CollisionWorld* mPhysicsWorld;
|
||||
|
|
|
|||
|
|
@ -37,6 +37,7 @@
|
|||
#include "raycast/RaycastScene.h"
|
||||
#include "concavemesh/ConcaveMeshScene.h"
|
||||
#include "cubestack/CubeStackScene.h"
|
||||
#include "pile/PileScene.h"
|
||||
|
||||
using namespace openglframework;
|
||||
using namespace jointsscene;
|
||||
|
|
@ -47,6 +48,7 @@ using namespace trianglemeshscene;
|
|||
using namespace heightfieldscene;
|
||||
using namespace collisiondetectionscene;
|
||||
using namespace cubestackscene;
|
||||
using namespace pilescene;
|
||||
|
||||
// Initialization of static variables
|
||||
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
|
||||
|
|
@ -57,7 +59,7 @@ TestbedApplication::TestbedApplication(bool isFullscreen)
|
|||
mIsInitialized(false), mGui(this), mCurrentScene(nullptr),
|
||||
mEngineSettings(EngineSettings::defaultSettings()),
|
||||
mFPS(0), mNbFrames(0), mPreviousTime(0),
|
||||
mLastTimeComputedFPS(0), mFrameTime(0), mPhysicsTime(0),
|
||||
mLastTimeComputedFPS(0), mFrameTime(0), mTotalPhysicsTime(0), mPhysicsStepTime(0),
|
||||
mWidth(1280), mHeight(720),
|
||||
mSinglePhysicsStepEnabled(false), mSinglePhysicsStepDone(false),
|
||||
mWindowToFramebufferRatio(Vector2(1, 1)), mIsShadowMappingEnabled(true),
|
||||
|
|
@ -125,6 +127,10 @@ void TestbedApplication::createScenes() {
|
|||
ConcaveMeshScene* concaveMeshScene = new ConcaveMeshScene("Concave Mesh", mEngineSettings);
|
||||
mScenes.push_back(concaveMeshScene);
|
||||
|
||||
// Pile scene
|
||||
PileScene* pileScene = new PileScene("Pile", mEngineSettings);
|
||||
mScenes.push_back(pileScene);
|
||||
|
||||
assert(mScenes.size() > 0);
|
||||
|
||||
const int firstSceneIndex = 0;
|
||||
|
|
@ -139,7 +145,7 @@ void TestbedApplication::destroyScenes() {
|
|||
delete mScenes[i];
|
||||
}
|
||||
|
||||
mCurrentScene = NULL;
|
||||
mCurrentScene = nullptr;
|
||||
}
|
||||
|
||||
void TestbedApplication::updateSinglePhysicsStep() {
|
||||
|
|
@ -163,9 +169,13 @@ void TestbedApplication::updatePhysics() {
|
|||
// While the time accumulator is not empty
|
||||
while(mTimer.isPossibleToTakeStep(mEngineSettings.timeStep)) {
|
||||
|
||||
double currentTime = glfwGetTime();
|
||||
|
||||
// Take a physics simulation step
|
||||
mCurrentScene->updatePhysics();
|
||||
|
||||
mPhysicsStepTime = glfwGetTime() - currentTime;
|
||||
|
||||
// Update the timer
|
||||
mTimer.nextStep(mEngineSettings.timeStep);
|
||||
}
|
||||
|
|
@ -186,7 +196,7 @@ void TestbedApplication::update() {
|
|||
}
|
||||
|
||||
// Compute the physics update time
|
||||
mPhysicsTime = glfwGetTime() - currentTime;
|
||||
mTotalPhysicsTime = glfwGetTime() - currentTime;
|
||||
|
||||
// Compute the interpolation factor
|
||||
float factor = mTimer.computeInterpolationFactor(mEngineSettings.timeStep);
|
||||
|
|
|
|||
|
|
@ -83,8 +83,11 @@ class TestbedApplication : public Screen {
|
|||
/// Update time (in seconds)
|
||||
double mFrameTime;
|
||||
|
||||
/// Physics update time (in seconds)
|
||||
double mPhysicsTime;
|
||||
/// Total physics update time (in seconds)
|
||||
double mTotalPhysicsTime;
|
||||
|
||||
/// Time of a single physics step (in seconds)
|
||||
double mPhysicsStepTime;
|
||||
|
||||
/// Width and height of the window
|
||||
int mWidth, mHeight;
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user