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Add Cube stack scene in the testbed application

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This commit is contained in:
Daniel Chappuis 2018-01-14 10:51:38 +01:00
parent ceb27760cb
commit 584b28a91c
7 changed files with 242 additions and 9 deletions
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2
testbed/CMakeLists.txt
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@ -114,6 +114,8 @@ SET(SCENES_SOURCES
scenes/concavemesh/ConcaveMeshScene.cpp
scenes/heightfield/HeightFieldScene.h
scenes/heightfield/HeightFieldScene.cpp
scenes/cubestack/CubeStackScene.h
scenes/cubestack/CubeStackScene.cpp
)
# Add .user file to set debug path in Visual Studio

3
testbed/common/AABB.h
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@ -37,9 +37,6 @@ class AABB {
// -------------------- Attributes -------------------- //
/// Size of each side of the box
float mSize[3];
/// Scaling matrix (applied to a cube to obtain the correct box dimensions)
openglframework::Matrix4 mScalingMatrix;

4
testbed/scenes/collisiondetection/CollisionDetectionScene.cpp
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@ -168,8 +168,8 @@ void CollisionDetectionScene::reset() {
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity()));
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity()));
mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity()));
mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()));
mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -12, 0), rp3d::Quaternion::identity()));
mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity()));
mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity()));
}
// Destructor

8
testbed/scenes/concavemesh/ConcaveMeshScene.h
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@ -42,10 +42,10 @@ namespace trianglemeshscene {
// Constants
const float SCENE_RADIUS = 70.0f; // Radius of the scene in meters
static const int NB_BOXES = 10;
static const int NB_SPHERES = 5;
static const int NB_CAPSULES = 5;
static const int NB_MESHES = 3;
static const int NB_BOXES = 50;
static const int NB_SPHERES = 40;
static const int NB_CAPSULES = 20;
static const int NB_MESHES = 15;
static const int NB_COMPOUND_SHAPES = 3;
const openglframework::Vector3 BOX_SIZE(2, 2, 2);
const float SPHERE_RADIUS = 1.5f;

146
testbed/scenes/cubestack/CubeStackScene.cpp Normal file
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@ -0,0 +1,146 @@
/********************************************************************************
* 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 "CubeStackScene.h"
// Namespaces
using namespace openglframework;
using namespace cubestackscene;
// Constructor
CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings)
: SceneDemo(name, settings, SCENE_RADIUS) {
// 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, rp3d::decimal(-9.81), 0);
// Create the dynamics world for the physics simulation
mPhysicsWorld = new rp3d::DynamicsWorld(gravity);
#ifdef IS_PROFILING_ACTIVE
mPhysicsWorld->setProfilerName(name + "_profiler");
#endif
// Create all the cubes of the scene
for (int i=1; i<=NB_FLOORS; i++) {
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);
// Set the box color
cube->setColor(mDemoColors[i % mNbDemoColors]);
cube->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = cube->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
// Add the box the list of box in the scene
mBoxes.push_back(cube);
mPhysicsObjects.push_back(cube);
}
}
// ------------------------- FLOOR ----------------------- //
// Create the floor
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, getDynamicsWorld(), mMeshFolderPath);
mFloor->setColor(mGreyColorDemo);
mFloor->setSleepingColor(mGreyColorDemo);
// The floor must be a static rigid body
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
mPhysicsObjects.push_back(mFloor);
// 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
CubeStackScene::~CubeStackScene() {
// Destroy all the cubes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
getDynamicsWorld()->destroyRigidBody((*it)->getRigidBody());
// Destroy the cube
delete (*it);
}
// Destroy the rigid body of the floor
getDynamicsWorld()->destroyRigidBody(mFloor->getRigidBody());
// Destroy the floor
delete mFloor;
// Destroy the dynamics world
delete getDynamicsWorld();
}
// Reset the scene
void CubeStackScene::reset() {
int index = 0;
for (int i=NB_FLOORS; i > 0; i--) {
for (int j=0; j<i; j++) {
// Create all the cubes of the scene
Box* box = mBoxes[index];
// Position of the cubes
rp3d::Vector3 position((-i * 0.5f + j) * (0.1f + BOX_SIZE.x),
BOX_SIZE.y + (NB_FLOORS - i) * (BOX_SIZE.y + 0.1f),
0);
box->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
index++;
}
}
mFloor->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity()));
}

82
testbed/scenes/cubestack/CubeStackScene.h Normal file
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@ -0,0 +1,82 @@
/********************************************************************************
* 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 CUBESTACK_SCENE_H
#define CUBESTACK_SCENE_H
// Libraries
#include "openglframework.h"
#include "reactphysics3d.h"
#include "Box.h"
#include "SceneDemo.h"
namespace cubestackscene {
// Constants
const float SCENE_RADIUS = 30.0f; // Radius of the scene in meters
const int NB_FLOORS = 15; // Number of boxes in the scene
const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters
const openglframework::Vector3 FLOOR_SIZE(50, 1, 50); // Floor dimensions in meters
const float BOX_MASS = 1.0f; // Box mass in kilograms
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
// Class CubeStackScene
class CubeStackScene : public SceneDemo {
protected :
// -------------------- Attributes -------------------- //
/// All the boxes of the scene
std::vector<Box*> mBoxes;
/// Box for the floor
Box* mFloor;
public:
// -------------------- Methods -------------------- //
/// Constructor
CubeStackScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~CubeStackScene() override;
/// Reset the scene
virtual void reset() override;
/// Return all the contact points of the scene
virtual std::vector<ContactPoint> getContactPoints() const override;
};
// Return all the contact points of the scene
inline std::vector<ContactPoint> CubeStackScene::getContactPoints() const {
return computeContactPointsOfWorld(getDynamicsWorld());
}
}
#endif

6
testbed/src/TestbedApplication.cpp
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@ -36,6 +36,7 @@
#include "heightfield/HeightFieldScene.h"
#include "raycast/RaycastScene.h"
#include "concavemesh/ConcaveMeshScene.h"
#include "cubestack/CubeStackScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -45,6 +46,7 @@ using namespace collisionshapesscene;
using namespace trianglemeshscene;
using namespace heightfieldscene;
using namespace collisiondetectionscene;
using namespace cubestackscene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -102,6 +104,10 @@ void TestbedApplication::createScenes() {
CubesScene* cubeScene = new CubesScene("Cubes", mEngineSettings);
mScenes.push_back(cubeScene);
// Cube Stack scene
CubeStackScene* cubeStackScene = new CubeStackScene("Cube Stack", mEngineSettings);
mScenes.push_back(cubeStackScene);
// Joints scene
JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings);
mScenes.push_back(jointsScene);