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Add BoxTower demo in testbed application

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This commit is contained in:
Daniel Chappuis 2020-06-27 23:51:42 +02:00
parent 4283e3f408
commit 56ad6536ba
4 changed files with 258 additions and 1 deletions
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2
testbed/CMakeLists.txt
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@ -141,6 +141,8 @@ set(SCENES_SOURCES
scenes/cubestack/CubeStackScene.cpp
scenes/pile/PileScene.h
scenes/pile/PileScene.cpp
scenes/boxtower/BoxTowerScene.h
scenes/boxtower/BoxTowerScene.cpp
)
# Create the executable

160
testbed/scenes/boxtower/BoxTowerScene.cpp Normal file
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@ -0,0 +1,160 @@
/********************************************************************************
* 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 "BoxTowerScene.h"
// Namespaces
using namespace openglframework;
using namespace boxtowerscene;
// Constructor
BoxTowerScene::BoxTowerScene(const std::string& name, EngineSettings& settings)
: SceneDemo(name, settings, true, 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 physics world
rp3d::Vector3 gravity(0, -9.81f, 0);
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);
mPhysicsWorld = physicsWorld;
// Create all the boxes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Create a sphere and a corresponding rigid in the physics world
Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
// Set the box color
box->setColor(mObjectColorDemo);
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of boxes in the scene
mBoxes.push_back(box);
mPhysicsObjects.push_back(box);
}
// ---------- Create the floor ---------
mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mPhysicsObjects.push_back(mFloor);
// Set the box color
mFloor->setColor(mFloorColorDemo);
mFloor->setSleepingColor(mFloorColorDemo);
// The floor must be a static rigid body
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material = mFloor->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Get the physics engine parameters
mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
}
// Destructor
BoxTowerScene::~BoxTowerScene() {
// 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 physics world
mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the object
delete (*it);
}
// Destroy the physics world
mPhysicsCommon.destroyPhysicsWorld(static_cast<rp3d::PhysicsWorld*>(mPhysicsWorld));
}
/// Reset the scene
void BoxTowerScene::reset() {
SceneDemo::reset();
float distFromCenter = 4.0f;
bool rotated = false;
int floorIndex = 0;
// Create all the boxes of the scene
for (uint i = 0; i<NB_BOXES; i++) {
rp3d::Vector3 position = rp3d::Vector3(i % 2 == 0 ? -distFromCenter : distFromCenter, 4.0f + (floorIndex * (BOX_SIZE.y + 0.1f)), 0.0f);
rp3d::Quaternion orientation = rp3d::Quaternion::identity();
if (rotated) {
orientation = rp3d::Quaternion::fromEulerAngles(0, M_PI / 2, 0);
//orientation = rp3d::Quaternion::fromEulerAngles(0.01f, M_PI / 2, 0);
position = rp3d::Vector3(0, 3.0f + (floorIndex * (BOX_SIZE.y + 0.2f)), i % 2 == 0 ? -distFromCenter : distFromCenter);
}
mBoxes[i]->setTransform(rp3d::Transform(position, orientation));
if (i % 2 == 1) {
rotated = !rotated;
floorIndex++;
}
}
// ---------- Create the triangular mesh ---------- //
mFloor->setTransform(rp3d::Transform::identity());
}

88
testbed/scenes/boxtower/BoxTowerScene.h Normal file
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@ -0,0 +1,88 @@
/********************************************************************************
* 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 BOX_TOWER_SCENE_H
#define BOX_TOWER_SCENE_H
// Libraries
#include "openglframework.h"
#include <reactphysics3d/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 boxtowerscene {
// Constants
const float SCENE_RADIUS = 30.0f;
const int NB_BOXES = 16;
const openglframework::Vector3 BOX_SIZE(2, 2, 16);
const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters
// Class BoxTowerScene
class BoxTowerScene : 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;
/// Box for the floor
Box* mFloor;
public:
// -------------------- Methods -------------------- //
/// Constructor
BoxTowerScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~BoxTowerScene() override;
/// Reset the scene
virtual void reset() override;
};
}
#endif

9
testbed/src/TestbedApplication.cpp
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@ -38,6 +38,7 @@
#include "concavemesh/ConcaveMeshScene.h"
#include "cubestack/CubeStackScene.h"
#include "pile/PileScene.h"
#include "boxtower/BoxTowerScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -49,6 +50,7 @@ using namespace heightfieldscene;
using namespace collisiondetectionscene;
using namespace cubestackscene;
using namespace pilescene;
using namespace boxtowerscene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -117,7 +119,7 @@ void TestbedApplication::createScenes() {
mScenes.push_back(cubeStackScene);
// Joints scene
JointsScene* jointsScene = new JointsScene("HingeJoint - Bridge", mEngineSettings);
JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings);
mScenes.push_back(jointsScene);
// Collision shapes scene
@ -145,6 +147,11 @@ void TestbedApplication::createScenes() {
mScenes.push_back(pileScene);
assert(mScenes.size() > 0);
// Box Tower scene
BoxTowerScene* boxTowerScene = new BoxTowerScene("Box Tower", mEngineSettings);
mScenes.push_back(boxTowerScene);
assert(mScenes.size() > 0);
const int firstSceneIndex = 0;
switchScene(mScenes[firstSceneIndex]);