Add the collision shapes example
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20
examples/collisionshapes/CMakeLists.txt
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examples/collisionshapes/CMakeLists.txt
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# Minimum cmake version required
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cmake_minimum_required(VERSION 2.6)
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# Project configuration
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PROJECT(CollisionShapes)
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# Copy the shaders used for the demo into the build directory
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FILE(COPY "../common/opengl-framework/src/shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/")
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# Copy the meshes used for the demo into the build directory
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FILE(COPY "../common/meshes/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/meshes/")
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# Headers
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INCLUDE_DIRECTORIES("../common/opengl-framework/src/" "../common/")
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# Create the example executable using the
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# compiled reactphysics3d static library
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ADD_EXECUTABLE(collisionshapes CollisionShapes.cpp Scene.cpp Scene.h "../common/VisualContactPoint.cpp" "../common/ConvexMesh.cpp" "../common/Capsule.cpp" "../common/Sphere.cpp" "../common/Cylinder.cpp" "../common/Cone.cpp" "../common/Box.cpp" "../common/Viewer.cpp")
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TARGET_LINK_LIBRARIES(collisionshapes reactphysics3d openglframework)
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152
examples/collisionshapes/CollisionShapes.cpp
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examples/collisionshapes/CollisionShapes.cpp
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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||||
* product, an acknowledgment in the product documentation would be *
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||||
* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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||||
* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "Scene.h"
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#include "Viewer.h"
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// Declarations
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void simulate();
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void display();
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void finish();
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void reshape(int width, int height);
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void mouseButton(int button, int state, int x, int y);
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void mouseMotion(int x, int y);
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void keyboard(unsigned char key, int x, int y);
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void init();
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// Namespaces
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using namespace openglframework;
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// Global variables
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Viewer* viewer;
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Scene* scene;
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// Main function
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int main(int argc, char** argv) {
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// Create and initialize the Viewer
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viewer = new Viewer();
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Vector2 windowsSize = Vector2(800, 600);
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Vector2 windowsPosition = Vector2(100, 100);
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bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Collision Shapes",
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windowsSize, windowsPosition);
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if (!initOK) return 1;
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// Create the scene
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scene = new Scene(viewer);
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init();
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// Glut Idle function that is continuously called
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glutIdleFunc(simulate);
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glutDisplayFunc(display);
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glutReshapeFunc(reshape);
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glutMouseFunc(mouseButton);
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glutMotionFunc(mouseMotion);
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glutKeyboardFunc(keyboard);
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glutCloseFunc(finish);
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// Glut main looop
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glutMainLoop();
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return 0;
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}
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// Simulate function
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void simulate() {
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// Physics simulation
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scene->simulate();
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viewer->computeFPS();
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// Ask GLUT to render the scene
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glutPostRedisplay ();
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}
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// Initialization
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void init() {
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// Define the background color (black)
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glClearColor(0.0, 0.0, 0.0, 1.0);
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}
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// Reshape function
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void reshape(int newWidth, int newHeight) {
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viewer->reshape(newWidth, newHeight);
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}
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// Called when a mouse button event occurs
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void mouseButton(int button, int state, int x, int y) {
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viewer->mouseButtonEvent(button, state, x, y);
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}
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// Called when a mouse motion event occurs
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void mouseMotion(int x, int y) {
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viewer->mouseMotionEvent(x, y);
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}
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// Called when the user hits a special key on the keyboard
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void keyboard(unsigned char key, int x, int y) {
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switch(key) {
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// Escape key
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case 27:
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glutLeaveMainLoop();
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break;
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// Space bar
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case 32:
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scene->pauseContinueSimulation();
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break;
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}
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}
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// End of the application
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void finish() {
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// Destroy the viewer and the scene
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delete viewer;
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delete scene;
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}
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// Display the scene
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void display() {
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// Render the scene
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scene->render();
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// Display the FPS
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viewer->displayGUI();
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// Swap the buffers
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glutSwapBuffers();
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// Check the OpenGL errors
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GlutViewer::checkOpenGLErrors();
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}
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451
examples/collisionshapes/Scene.cpp
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examples/collisionshapes/Scene.cpp
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/********************************************************************************
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* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
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* Copyright (c) 2010-2013 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
|
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "Scene.h"
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// Namespaces
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using namespace openglframework;
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// Constructor
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Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
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mPhongShader("shaders/phong.vert",
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"shaders/phong.frag"), mIsRunning(false) {
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// Move the light 0
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mLight0.translateWorld(Vector3(50, 50, 50));
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// Compute the radius and the center of the scene
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float radiusScene = 10.0f;
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openglframework::Vector3 center(0, 5, 0);
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// Set the center of the scene
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mViewer->setScenePosition(center, radiusScene);
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// Gravity vector in the dynamics world
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rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
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// Time step for the physics simulation
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rp3d::decimal timeStep = 1.0f / 60.0f;
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// Create the dynamics world for the physics simulation
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mDynamicsWorld = new rp3d::DynamicsWorld(gravity, timeStep);
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// Set the number of iterations of the constraint solver
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mDynamicsWorld->setNbIterationsVelocitySolver(15);
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// Create the static data for the visual contact points
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VisualContactPoint::createStaticData();
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float radius = 3.0f;
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// Create all the boxes of the scene
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for (int i=0; i<NB_BOXES; i++) {
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// Position
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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60 + i * (BOX_SIZE.y + 0.8f),
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radius * sin(angle));
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// Create a sphere and a corresponding rigid in the dynamics world
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Box* box = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
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// The sphere is a moving rigid body
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box->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = box->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the sphere the list of sphere in the scene
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mBoxes.push_back(box);
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}
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// Create all the spheres of the scene
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for (int i=0; i<NB_SPHERES; i++) {
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// Position
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float angle = i * 35.0f;
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openglframework::Vector3 position(radius * cos(angle),
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50 + i * (SPHERE_RADIUS + 0.8f),
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radius * sin(angle));
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// Create a sphere and a corresponding rigid in the dynamics world
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Sphere* sphere = new Sphere(SPHERE_RADIUS, position , BOX_MASS, mDynamicsWorld);
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// The sphere is a moving rigid body
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sphere->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = sphere->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the sphere the list of sphere in the scene
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mSpheres.push_back(sphere);
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}
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// Create all the cones of the scene
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for (int i=0; i<NB_CONES; i++) {
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// Position
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float angle = i * 50.0f;
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openglframework::Vector3 position(radius * cos(angle),
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35 + i * (CONE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cone and a corresponding rigid in the dynamics world
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Cone* cone = new Cone(CONE_RADIUS, CONE_HEIGHT, position , CONE_MASS, mDynamicsWorld);
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// The cone is a moving rigid body
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cone->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = cone->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cone the list of sphere in the scene
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mCones.push_back(cone);
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}
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// Create all the cylinders of the scene
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for (int i=0; i<NB_CYLINDERS; i++) {
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// Position
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float angle = i * 35.0f;
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openglframework::Vector3 position(radius * cos(angle),
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25 + i * (CYLINDER_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cylinder and a corresponding rigid in the dynamics world
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Cylinder* cylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position ,
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CYLINDER_MASS, mDynamicsWorld);
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// The cylinder is a moving rigid body
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cylinder->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = cylinder->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cylinder the list of sphere in the scene
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mCylinders.push_back(cylinder);
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}
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// Create all the capsules of the scene
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for (int i=0; i<NB_CAPSULES; i++) {
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// Position
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float angle = i * 45.0f;
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openglframework::Vector3 position(radius * cos(angle),
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15 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cylinder and a corresponding rigid in the dynamics world
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Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position ,
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CAPSULE_MASS, mDynamicsWorld);
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// The cylinder is a moving rigid body
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capsule->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = capsule->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cylinder the list of sphere in the scene
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mCapsules.push_back(capsule);
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}
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// Create all the convex meshes of the scene
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for (int i=0; i<NB_MESHES; i++) {
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// Position
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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5 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a convex mesh and a corresponding rigid in the dynamics world
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ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld);
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// The mesh is a moving rigid body
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mesh->getRigidBody()->setIsMotionEnabled(true);
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// Change the material properties of the rigid body
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rp3d::Material& material = mesh->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the mesh the list of sphere in the scene
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mConvexMeshes.push_back(mesh);
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}
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// Create the floor
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openglframework::Vector3 floorPosition(0, 0, 0);
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mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
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// The floor must be a non-moving rigid body
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mFloor->getRigidBody()->setIsMotionEnabled(false);
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// Change the material properties of the rigid body
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rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Start the simulation
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startSimulation();
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}
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// Destructor
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Scene::~Scene() {
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// Stop the physics simulation
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stopSimulation();
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// Destroy the shader
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mPhongShader.destroy();
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// Destroy all the boxes of the scene
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for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the box
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delete (*it);
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}
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// Destroy all the sphere of the scene
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for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the cones of the scene
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for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the cylinders of the scene
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for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the capsules of the scene
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for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the convex meshes of the scene
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for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
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it != mConvexMeshes.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the convex mesh
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delete (*it);
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}
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// Destroy all the visual contact points
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for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
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it != mContactPoints.end(); ++it) {
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delete (*it);
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}
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// Destroy the static data for the visual contact points
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VisualContactPoint::destroyStaticData();
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// Destroy the rigid body of the floor
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mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
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// Destroy the floor
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delete mFloor;
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// Destroy the dynamics world
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delete mDynamicsWorld;
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}
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// Take a step for the simulation
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void Scene::simulate() {
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// If the physics simulation is running
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if (mIsRunning) {
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// Take a simulation step
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mDynamicsWorld->update();
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// Update the position and orientation of the boxes
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||||
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the sphere
|
||||
for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the cones
|
||||
for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the cylinders
|
||||
for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the capsules
|
||||
for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the convex meshes
|
||||
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
|
||||
it != mConvexMeshes.end(); ++it) {
|
||||
|
||||
// Update the transform used for the rendering
|
||||
(*it)->updateTransform();
|
||||
}
|
||||
|
||||
// Destroy all the visual contact points
|
||||
for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
|
||||
it != mContactPoints.end(); ++it) {
|
||||
delete (*it);
|
||||
}
|
||||
mContactPoints.clear();
|
||||
|
||||
// Generate the new visual contact points
|
||||
const std::vector<rp3d::ContactManifold*>& manifolds = mDynamicsWorld->getContactManifolds();
|
||||
for (std::vector<rp3d::ContactManifold*>::const_iterator it = manifolds.begin();
|
||||
it != manifolds.end(); ++it) {
|
||||
for (unsigned int i=0; i<(*it)->getNbContactPoints(); i++) {
|
||||
rp3d::ContactPoint* point = (*it)->getContactPoint(i);
|
||||
|
||||
const rp3d::Vector3 pos = point->getWorldPointOnBody1();
|
||||
openglframework::Vector3 position(pos.x, pos.y, pos.z);
|
||||
VisualContactPoint* visualPoint = new VisualContactPoint(position);
|
||||
mContactPoints.push_back(visualPoint);
|
||||
}
|
||||
}
|
||||
|
||||
mFloor->updateTransform();
|
||||
}
|
||||
}
|
||||
|
||||
// Render the scene
|
||||
void Scene::render() {
|
||||
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
|
||||
glEnable(GL_CULL_FACE);
|
||||
|
||||
// Get the world-space to camera-space matrix
|
||||
const Camera& camera = mViewer->getCamera();
|
||||
const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse();
|
||||
|
||||
// Bind the shader
|
||||
mPhongShader.bind();
|
||||
|
||||
// Set the variables of the shader
|
||||
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
|
||||
mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
|
||||
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
|
||||
Color& diffColLight0 = mLight0.getDiffuseColor();
|
||||
Color& specColLight0 = mLight0.getSpecularColor();
|
||||
mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b));
|
||||
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b));
|
||||
mPhongShader.setFloatUniform("shininess", 200.0f);
|
||||
|
||||
// Render all the boxes of the scene
|
||||
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the sphere of the scene
|
||||
for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the cones of the scene
|
||||
for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the cylinders of the scene
|
||||
for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the capsules of the scene
|
||||
for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the convex meshes of the scene
|
||||
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
|
||||
it != mConvexMeshes.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render all the visual contact points
|
||||
for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
|
||||
it != mContactPoints.end(); ++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Render the floor
|
||||
mFloor->render(mPhongShader, worldToCameraMatrix);
|
||||
|
||||
// Unbind the shader
|
||||
mPhongShader.unbind();
|
||||
}
|
153
examples/collisionshapes/Scene.h
Normal file
153
examples/collisionshapes/Scene.h
Normal file
|
@ -0,0 +1,153 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
||||
* Copyright (c) 2010-2013 Daniel Chappuis *
|
||||
*********************************************************************************
|
||||
* *
|
||||
* This software is provided 'as-is', without any express or implied warranty. *
|
||||
* In no event will the authors be held liable for any damages arising from the *
|
||||
* use of this software. *
|
||||
* *
|
||||
* Permission is granted to anyone to use this software for any purpose, *
|
||||
* including commercial applications, and to alter it and redistribute it *
|
||||
* freely, subject to the following restrictions: *
|
||||
* *
|
||||
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||
* that you wrote the original software. If you use this software in a *
|
||||
* product, an acknowledgment in the product documentation would be *
|
||||
* appreciated but is not required. *
|
||||
* *
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||
* misrepresented as being the original software. *
|
||||
* *
|
||||
* 3. This notice may not be removed or altered from any source distribution. *
|
||||
* *
|
||||
********************************************************************************/
|
||||
|
||||
#ifndef SCENE_H
|
||||
#define SCENE_H
|
||||
|
||||
// Libraries
|
||||
#include "openglframework.h"
|
||||
#include "reactphysics3d.h"
|
||||
#include "Sphere.h"
|
||||
#include "Box.h"
|
||||
#include "Cone.h"
|
||||
#include "Cylinder.h"
|
||||
#include "Capsule.h"
|
||||
#include "ConvexMesh.h"
|
||||
#include "VisualContactPoint.h"
|
||||
|
||||
// Constants
|
||||
const int NB_BOXES = 3;
|
||||
const int NB_SPHERES = 3;
|
||||
const int NB_CONES = 3;
|
||||
const int NB_CYLINDERS = 3;
|
||||
const int NB_CAPSULES = 3;
|
||||
const int NB_MESHES = 3;
|
||||
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 openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20); // 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 Scene
|
||||
class Scene {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Pointer to the viewer
|
||||
openglframework::GlutViewer* mViewer;
|
||||
|
||||
/// Light 0
|
||||
openglframework::Light mLight0;
|
||||
|
||||
/// Phong shader
|
||||
openglframework::Shader mPhongShader;
|
||||
|
||||
/// All the spheres of the scene
|
||||
std::vector<Box*> mBoxes;
|
||||
|
||||
std::vector<Sphere*> mSpheres;
|
||||
|
||||
std::vector<Cone*> mCones;
|
||||
|
||||
std::vector<Cylinder*> mCylinders;
|
||||
|
||||
std::vector<Capsule*> mCapsules;
|
||||
|
||||
/// All the convex meshes of the scene
|
||||
std::vector<ConvexMesh*> mConvexMeshes;
|
||||
|
||||
/// All the visual contact points
|
||||
std::vector<VisualContactPoint*> mContactPoints;
|
||||
|
||||
/// Box for the floor
|
||||
Box* mFloor;
|
||||
|
||||
/// Dynamics world used for the physics simulation
|
||||
rp3d::DynamicsWorld* mDynamicsWorld;
|
||||
|
||||
/// True if the physics simulation is running
|
||||
bool mIsRunning;
|
||||
|
||||
public:
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Scene(openglframework::GlutViewer* viewer);
|
||||
|
||||
/// Destructor
|
||||
~Scene();
|
||||
|
||||
/// Take a step for the simulation
|
||||
void simulate();
|
||||
|
||||
/// Stop the simulation
|
||||
void stopSimulation();
|
||||
|
||||
/// Start the simulation
|
||||
void startSimulation();
|
||||
|
||||
/// Pause or continue simulation
|
||||
void pauseContinueSimulation();
|
||||
|
||||
/// Render the scene
|
||||
void render();
|
||||
};
|
||||
|
||||
// Stop the simulation
|
||||
inline void Scene::stopSimulation() {
|
||||
mDynamicsWorld->stop();
|
||||
mIsRunning = false;
|
||||
}
|
||||
|
||||
// Start the simulation
|
||||
inline void Scene::startSimulation() {
|
||||
mDynamicsWorld->start();
|
||||
mIsRunning = true;
|
||||
}
|
||||
|
||||
// Pause or continue simulation
|
||||
inline void Scene::pauseContinueSimulation() {
|
||||
if (mIsRunning) {
|
||||
stopSimulation();
|
||||
}
|
||||
else {
|
||||
startSimulation();
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
149
examples/common/ConvexMesh.cpp
Normal file
149
examples/common/ConvexMesh.cpp
Normal file
|
@ -0,0 +1,149 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
||||
* Copyright (c) 2010-2013 Daniel Chappuis *
|
||||
*********************************************************************************
|
||||
* *
|
||||
* This software is provided 'as-is', without any express or implied warranty. *
|
||||
* In no event will the authors be held liable for any damages arising from the *
|
||||
* use of this software. *
|
||||
* *
|
||||
* Permission is granted to anyone to use this software for any purpose, *
|
||||
* including commercial applications, and to alter it and redistribute it *
|
||||
* freely, subject to the following restrictions: *
|
||||
* *
|
||||
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||
* that you wrote the original software. If you use this software in a *
|
||||
* product, an acknowledgment in the product documentation would be *
|
||||
* appreciated but is not required. *
|
||||
* *
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||
* misrepresented as being the original software. *
|
||||
* *
|
||||
* 3. This notice may not be removed or altered from any source distribution. *
|
||||
* *
|
||||
********************************************************************************/
|
||||
|
||||
// Libraries
|
||||
#include "ConvexMesh.h"
|
||||
|
||||
|
||||
// Constructor
|
||||
ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass,
|
||||
reactphysics3d::DynamicsWorld* dynamicsWorld)
|
||||
: openglframework::Mesh() {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile("meshes/convexmesh.obj", *this);
|
||||
|
||||
// Calculate the normals of the mesh
|
||||
calculateNormals();
|
||||
|
||||
// Initialize the position where the sphere will be rendered
|
||||
translateWorld(position);
|
||||
|
||||
// Create the collision shape for the rigid body (convex mesh shape)
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
|
||||
rp3d::decimal* verticesArray = (rp3d::decimal*) getVerticesPointer();
|
||||
rp3d::ConvexMeshShape collisionShape(verticesArray, mVertices.size(),
|
||||
sizeof(openglframework::Vector3));
|
||||
|
||||
// Add the edges information of the mesh into the convex mesh collision shape.
|
||||
// This is optional but it really speed up the convex mesh collision detection at the
|
||||
// cost of some additional memory to store the edges inside the collision shape.
|
||||
for (unsigned int i=0; i<getNbFaces(); i++) { // For each triangle face of the mesh
|
||||
|
||||
// Get the three vertex IDs of the vertices of the face
|
||||
unsigned int v1 = getVertexIndexInFace(i, 0);
|
||||
unsigned int v2 = getVertexIndexInFace(i, 1);
|
||||
unsigned int v3 = getVertexIndexInFace(i, 2);
|
||||
|
||||
// Add the three edges into the collision shape
|
||||
collisionShape.addEdge(v1, v2);
|
||||
collisionShape.addEdge(v1, v3);
|
||||
collisionShape.addEdge(v2, v3);
|
||||
}
|
||||
collisionShape.setIsEdgesInformationUsed(true);// Enable the fast collision detection with edges
|
||||
|
||||
// Compute the inertia tensor of the body using its collision shape
|
||||
rp3d::Matrix3x3 inertiaTensor;
|
||||
collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
|
||||
|
||||
// Initial position and orientation of the rigid body
|
||||
rp3d::Vector3 initPosition(position.x, position.y, position.z);
|
||||
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
|
||||
rp3d::Transform transform(initPosition, initOrientation);
|
||||
|
||||
// Create a rigid body corresponding to the sphere in the dynamics world
|
||||
mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
|
||||
}
|
||||
|
||||
// Destructor
|
||||
ConvexMesh::~ConvexMesh() {
|
||||
|
||||
// Destroy the mesh
|
||||
destroy();
|
||||
}
|
||||
|
||||
// Render the sphere at the correct position and with the correct orientation
|
||||
void ConvexMesh::render(openglframework::Shader& shader,
|
||||
const openglframework::Matrix4& worldToCameraMatrix) {
|
||||
|
||||
// Bind the shader
|
||||
shader.bind();
|
||||
|
||||
// Set the model to camera matrix
|
||||
const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
|
||||
shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
|
||||
|
||||
// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
|
||||
// model-view matrix)
|
||||
const openglframework::Matrix3 normalMatrix =
|
||||
localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
|
||||
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
|
||||
|
||||
glEnableClientState(GL_VERTEX_ARRAY);
|
||||
glEnableClientState(GL_NORMAL_ARRAY);
|
||||
if (hasTexture()) {
|
||||
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
|
||||
}
|
||||
|
||||
glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
|
||||
glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
|
||||
if(hasTexture()) {
|
||||
glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
|
||||
}
|
||||
|
||||
// For each part of the mesh
|
||||
for (unsigned int i=0; i<getNbParts(); i++) {
|
||||
glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
|
||||
GL_UNSIGNED_INT, getIndicesPointer());
|
||||
}
|
||||
|
||||
glDisableClientState(GL_NORMAL_ARRAY);
|
||||
glDisableClientState(GL_VERTEX_ARRAY);
|
||||
if (hasTexture()) {
|
||||
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
|
||||
}
|
||||
|
||||
// Unbind the shader
|
||||
shader.unbind();
|
||||
}
|
||||
|
||||
// Update the transform matrix of the sphere
|
||||
void ConvexMesh::updateTransform() {
|
||||
|
||||
// Get the interpolated transform of the rigid body
|
||||
rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
|
||||
|
||||
// Compute the transform used for rendering the sphere
|
||||
float matrix[16];
|
||||
transform.getOpenGLMatrix(matrix);
|
||||
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
|
||||
matrix[1], matrix[5], matrix[9], matrix[13],
|
||||
matrix[2], matrix[6], matrix[10], matrix[14],
|
||||
matrix[3], matrix[7], matrix[11], matrix[15]);
|
||||
|
||||
// Apply the scaling matrix to have the correct sphere dimensions
|
||||
mTransformMatrix = newMatrix;
|
||||
}
|
72
examples/common/ConvexMesh.h
Normal file
72
examples/common/ConvexMesh.h
Normal file
|
@ -0,0 +1,72 @@
|
|||
/********************************************************************************
|
||||
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
||||
* Copyright (c) 2010-2013 Daniel Chappuis *
|
||||
*********************************************************************************
|
||||
* *
|
||||
* This software is provided 'as-is', without any express or implied warranty. *
|
||||
* In no event will the authors be held liable for any damages arising from the *
|
||||
* use of this software. *
|
||||
* *
|
||||
* Permission is granted to anyone to use this software for any purpose, *
|
||||
* including commercial applications, and to alter it and redistribute it *
|
||||
* freely, subject to the following restrictions: *
|
||||
* *
|
||||
* 1. The origin of this software must not be misrepresented; you must not claim *
|
||||
* that you wrote the original software. If you use this software in a *
|
||||
* product, an acknowledgment in the product documentation would be *
|
||||
* appreciated but is not required. *
|
||||
* *
|
||||
* 2. Altered source versions must be plainly marked as such, and must not be *
|
||||
* misrepresented as being the original software. *
|
||||
* *
|
||||
* 3. This notice may not be removed or altered from any source distribution. *
|
||||
* *
|
||||
********************************************************************************/
|
||||
|
||||
#ifndef CONVEX_MESH_H
|
||||
#define CONVEX_MESH_H
|
||||
|
||||
// Libraries
|
||||
#include "openglframework.h"
|
||||
#include "reactphysics3d.h"
|
||||
|
||||
// Class ConvexMesh
|
||||
class ConvexMesh : public openglframework::Mesh {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Rigid body used to simulate the dynamics of the mesh
|
||||
rp3d::RigidBody* mRigidBody;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
ConvexMesh(const openglframework::Vector3& position, float mass,
|
||||
rp3d::DynamicsWorld* dynamicsWorld);
|
||||
|
||||
/// Destructor
|
||||
~ConvexMesh();
|
||||
|
||||
/// Return a pointer to the rigid body of the mesh
|
||||
rp3d::RigidBody* getRigidBody();
|
||||
|
||||
/// Update the transform matrix of the mesh
|
||||
void updateTransform();
|
||||
|
||||
/// Render the mesh at the correct position and with the correct orientation
|
||||
void render(openglframework::Shader& shader,
|
||||
const openglframework::Matrix4& worldToCameraMatrix);
|
||||
};
|
||||
|
||||
// Return a pointer to the rigid body of the mesh
|
||||
inline rp3d::RigidBody* ConvexMesh::getRigidBody() {
|
||||
return mRigidBody;
|
||||
}
|
||||
|
||||
#endif
|
125
examples/common/meshes/convexmesh.obj
Normal file
125
examples/common/meshes/convexmesh.obj
Normal file
|
@ -0,0 +1,125 @@
|
|||
# Blender v2.66 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
v 0.000000 -1.000000 0.000000
|
||||
v 0.723607 -0.447220 0.525725
|
||||
v -0.276388 -0.447220 0.850649
|
||||
v -0.894426 -0.447216 0.000000
|
||||
v -0.276388 -0.447220 -0.850649
|
||||
v 0.723607 -0.447220 -0.525725
|
||||
v 0.276388 0.447220 0.850649
|
||||
v -0.723607 0.447220 0.525725
|
||||
v -0.723607 0.447220 -0.525725
|
||||
v 0.276388 0.447220 -0.850649
|
||||
v 0.894426 0.447216 0.000000
|
||||
v 0.000000 1.000000 0.000000
|
||||
v 0.425323 -0.850654 0.309011
|
||||
v 0.262869 -0.525738 0.809012
|
||||
v -0.162456 -0.850654 0.499995
|
||||
v 0.425323 -0.850654 -0.309011
|
||||
v 0.850648 -0.525736 0.000000
|
||||
v -0.688189 -0.525736 0.499997
|
||||
v -0.525730 -0.850652 0.000000
|
||||
v -0.688189 -0.525736 -0.499997
|
||||
v -0.162456 -0.850654 -0.499995
|
||||
v 0.262869 -0.525738 -0.809012
|
||||
v 0.951058 0.000000 -0.309013
|
||||
v 0.951058 0.000000 0.309013
|
||||
v 0.587786 0.000000 0.809017
|
||||
v 0.000000 0.000000 1.000000
|
||||
v -0.587786 0.000000 0.809017
|
||||
v -0.951058 0.000000 0.309013
|
||||
v -0.951058 0.000000 -0.309013
|
||||
v -0.587786 0.000000 -0.809017
|
||||
v 0.000000 0.000000 -1.000000
|
||||
v 0.587786 0.000000 -0.809017
|
||||
v 0.688189 0.525736 0.499997
|
||||
v -0.262869 0.525738 0.809012
|
||||
v -0.850648 0.525736 0.000000
|
||||
v -0.262869 0.525738 -0.809012
|
||||
v 0.688189 0.525736 -0.499997
|
||||
v 0.525730 0.850652 0.000000
|
||||
v 0.162456 0.850654 0.499995
|
||||
v -0.425323 0.850654 0.309011
|
||||
v -0.425323 0.850654 -0.309011
|
||||
v 0.162456 0.850654 -0.499995
|
||||
s off
|
||||
f 1 13 15
|
||||
f 2 13 17
|
||||
f 1 15 19
|
||||
f 1 19 21
|
||||
f 1 21 16
|
||||
f 2 17 24
|
||||
f 3 14 26
|
||||
f 4 18 28
|
||||
f 5 20 30
|
||||
f 6 22 32
|
||||
f 2 24 25
|
||||
f 3 26 27
|
||||
f 4 28 29
|
||||
f 5 30 31
|
||||
f 6 32 23
|
||||
f 7 33 39
|
||||
f 8 34 40
|
||||
f 9 35 41
|
||||
f 10 36 42
|
||||
f 11 37 38
|
||||
f 15 14 3
|
||||
f 15 13 14
|
||||
f 13 2 14
|
||||
f 17 16 6
|
||||
f 17 13 16
|
||||
f 13 1 16
|
||||
f 19 18 4
|
||||
f 19 15 18
|
||||
f 15 3 18
|
||||
f 21 20 5
|
||||
f 21 19 20
|
||||
f 19 4 20
|
||||
f 16 22 6
|
||||
f 16 21 22
|
||||
f 21 5 22
|
||||
f 24 23 11
|
||||
f 24 17 23
|
||||
f 17 6 23
|
||||
f 26 25 7
|
||||
f 26 14 25
|
||||
f 14 2 25
|
||||
f 28 27 8
|
||||
f 28 18 27
|
||||
f 18 3 27
|
||||
f 30 29 9
|
||||
f 30 20 29
|
||||
f 20 4 29
|
||||
f 32 31 10
|
||||
f 32 22 31
|
||||
f 22 5 31
|
||||
f 25 33 7
|
||||
f 25 24 33
|
||||
f 24 11 33
|
||||
f 27 34 8
|
||||
f 27 26 34
|
||||
f 26 7 34
|
||||
f 29 35 9
|
||||
f 29 28 35
|
||||
f 28 8 35
|
||||
f 31 36 10
|
||||
f 31 30 36
|
||||
f 30 9 36
|
||||
f 23 37 11
|
||||
f 23 32 37
|
||||
f 32 10 37
|
||||
f 39 38 12
|
||||
f 39 33 38
|
||||
f 33 11 38
|
||||
f 40 39 12
|
||||
f 40 34 39
|
||||
f 34 7 39
|
||||
f 41 40 12
|
||||
f 41 35 40
|
||||
f 35 8 40
|
||||
f 42 41 12
|
||||
f 42 36 41
|
||||
f 36 9 41
|
||||
f 38 42 12
|
||||
f 38 37 42
|
||||
f 37 10 42
|
Loading…
Reference in New Issue
Block a user