git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@100 92aac97c-a6ce-11dd-a772-7fcde58d38e6
This commit is contained in:
chappuis.daniel
parent
f4e061911c
commit
7afb8ba7f0
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@ -19,19 +19,21 @@
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// Libraries
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#include "Context.h"
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#include "../reactphysics3d/reactphysics3d.h"
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#include <iostream>
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#include <vector>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor of the class Context
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Context::Context() {
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// We add some objects in the context at the beginning ---> THESE THINGS WILL BE STORE IN A TEXT FILE
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Cube* cube1 = new Cube(Object::Position(-2.0, 1.0, -6.0), 2.0);
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Cube* cube2 = new Cube(Object::Position(0.0, 1.5, 6.0), 3.0);
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Cube* cube3 = new Cube(Object::Position(4.0, 4.0, -2.0), 2.0);
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Plane* plane1 = new Plane(Object::Position(0.0, 0.0, 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0));
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Cube* cube1 = new Cube(Vector3D(-2.0, 3, -6.0), 2.0, 10.0);
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Cube* cube2 = new Cube(Vector3D(0.0, 3, 6.0), 3.0, 5.0);
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Cube* cube3 = new Cube(Vector3D(4.0, 3.0, -2.0), 2.0, 0.01);
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Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0), 10.0);
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addObject(cube1);
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addObject(cube2);
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@ -43,7 +45,7 @@ Context::Context() {
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// Destructor of the class Context
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Context::~Context() {
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// Delete all the objects in vectObjects
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for(int i=0; i<vectObjects.size(); ++i) {
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for(unsigned int i=0; i<vectObjects.size(); ++i) {
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delete vectObjects[0];
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}
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}
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@ -22,7 +22,6 @@
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// Libraries
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#include "Objects.h"
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#include <vector>
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// Class Context
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@ -22,41 +22,40 @@
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//#include <windows.h> // To avoid an error due to the #include <GL/glut.h>
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#include <GL/freeglut.h>
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#include <math.h>
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#include <GL/gl.h>
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#include <GL/glu.h>
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#include <cmath>
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#include <iostream>
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// ----- Class Object ----- //
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// Constructor of the class Object
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Object::Object(const Position& position) {
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this->position = position;
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Object::Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor)
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:rigidBody(new RigidBody(position, mass, inertiaTensor)) {
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}
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// Destructor of the class Object
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Object::~Object() {
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// Delete the rigid body object
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delete rigidBody;
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}
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// ----- Structure Position ----- //
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// Constructor without arguments of the structure Position
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Object::Position::Position() {
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x = 0.0;
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y = 0.0;
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z = 0.0;
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// Return the pointer to the rigid body
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RigidBody* Object::getRigidBody() {
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return rigidBody;
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}
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// Constructor of the structure Position
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Object::Position::Position(double x, double y, double z) {
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this->x = x;
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this->y = y;
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this->z = z;
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};
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// ----- Class Cube ----- //
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// Static attributes
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const Matrix3x3 Cube::inertiaTensor;
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// Constructor of the class Cube
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Cube::Cube(const Position& position, float size)
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:Object(position) {
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Cube::Cube(const Vector3D& position, float size, const Kilogram& mass)
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:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*2*size*size, 0.0, 0.0,
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0.0, 1.0/12.0*mass.getValue()*2*size*size, 0.0,
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0.0, 0.0, 1.0/12.0*mass.getValue()*2*size*size)) {
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this->size = size;
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}
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@ -67,8 +66,25 @@ Cube::~Cube() {
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// Method to draw the cube
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void Cube::draw() const {
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// Get the interpolated state of the rigid body
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BodyState state = rigidBody->getInterpolatedState();
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// Position of the cube
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double x = state.getPosition().getX();
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double y = state.getPosition().getY();
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double z = state.getPosition().getZ();
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// Orientation of the cube
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Vector3D orientationAxis;
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double orientationAngle;
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state.getOrientation().getRotationAngleAxis(orientationAngle, orientationAxis);
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// Translation of the cube to its position
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glTranslatef(position.x, position.y, position.z);
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glTranslatef(x, y, z);
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// Rotation of the cube according to its orientation
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glRotatef(orientationAngle/pi*180.0, orientationAxis.getX(), orientationAxis.getY(), orientationAxis.getZ());
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// Draw the cube
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glutSolidCube(size);
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@ -78,13 +94,18 @@ void Cube::draw() const {
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// ----- Class Plane ----- //
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// Constructor of the class Plane
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Plane::Plane(const Position& position, float width, float height, const Vector3D& d1, const Vector3D& d2)
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:Object(position) {
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Plane::Plane(const Vector3D& position, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass)
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:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*height*height, 0.0, 0.0,
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0.0, 1.0/12.0*mass.getValue()*(width*width+height*height), 0.0,
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0.0, 0.0, 1.0/12.0*mass.getValue()*width*width)) {
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this->width = width;
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this->height = height;
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this->d1 = d1;
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this->d2 = d2;
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// By default Planes in the demo cannot move
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rigidBody->setIsMotionEnabled(false);
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// Compute the unit normal vector of the plane by a cross product
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normalVector = d1.crossProduct(d2).getUnit();
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}
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@ -96,8 +117,17 @@ Plane::~Plane() {
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// Method used to draw the plane
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void Plane::draw() const {
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// Get the interpolated state of the rigid body
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BodyState state = rigidBody->getInterpolatedState();
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// Get the position of the rigid body
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double x = state.getPosition().getX();
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double y = state.getPosition().getY();
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double z = state.getPosition().getZ();
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// Translation of the cube to its position
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glTranslatef(position.x, position.y, position.z);
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glTranslatef(x, y, z);
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float halfWidth = width / 2.0;
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float halfHeight = height / 2.0;
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@ -105,17 +135,17 @@ void Plane::draw() const {
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// Draw the plane
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glBegin(GL_POLYGON);
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glColor3f(1.0, 1.0, 1.0);
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glVertex3f(position.x + d1.getX() * halfWidth + d2.getX() * halfHeight , position.y + d1.getY() * halfWidth + d2.getY() * halfHeight
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, position.z + d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glVertex3f(x + d1.getX() * halfWidth + d2.getX() * halfHeight , y + d1.getY() * halfWidth + d2.getY() * halfHeight
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, z + d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(position.x + d1.getX() * halfWidth - d2.getX() * halfHeight , position.y + d1.getY() * halfWidth - d2.getY() * halfHeight
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, position.z + d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glVertex3f(x + d1.getX() * halfWidth - d2.getX() * halfHeight , y + d1.getY() * halfWidth - d2.getY() * halfHeight
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, z + d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(position.x - d1.getX() * halfWidth - d2.getX() * halfHeight , position.y - d1.getY() * halfWidth - d2.getY() * halfHeight
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, position.z - d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glVertex3f(x - d1.getX() * halfWidth - d2.getX() * halfHeight , y - d1.getY() * halfWidth - d2.getY() * halfHeight
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, z - d1.getZ() * halfWidth - d2.getZ() * halfHeight);
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glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
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glVertex3f(position.x - d1.getX() * halfWidth + d2.getX() * halfHeight , position.y - d1.getY() * halfWidth + d2.getY() * halfHeight
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, position.z - d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glVertex3f(x - d1.getX() * halfWidth + d2.getX() * halfHeight , y - d1.getY() * halfWidth + d2.getY() * halfHeight
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, z - d1.getZ() * halfWidth + d2.getZ() * halfHeight);
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glEnd();
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}
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@ -33,20 +33,15 @@ using namespace reactphysics3d;
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// ----- Class Object (abstract) ----- //
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// Represent an object of the simulation
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class Object {
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public :
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// Structure Object::Position
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struct Position {
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double x; // x coordinate
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double y; // y coordinate
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double z; // z coordinate
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protected :
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RigidBody* rigidBody; // Rigid Body that represents the object
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// Methods
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Position(); // Constructor without arguments of the structure Position
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Position(double x, double y, double z); // Constructor of the structure Position
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} position; // Position of the object
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Object(const Position& position); // Constructor of the class Object
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public :
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Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor); // Constructor of the class Object
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virtual ~Object(); // Destructor of the class Object
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virtual void draw() const =0; // pure virtual method to draw the object
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RigidBody* getRigidBody(); // Return the pointer to the rigid body
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};
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// ----- Class Cube ----- //
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class Cube : public Object {
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private :
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float size; // Size of a side in the cube
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static const Matrix3x3 inertiaTensor; // Inertia tensor of a cube
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public :
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Cube(const Position& position, float size); // Constructor of the class cube
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Cube(const Vector3D& position, float size, const Kilogram& mass); // Constructor of the class cube
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virtual ~Cube(); // Destructor of the class cube
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virtual void draw() const; // Method to draw the cube
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};
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// ----- Class Plane ---- //
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// Represent a plane in the simulation
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class Plane : public Object {
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public :
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private :
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float width; // Width of the plane
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float height; // Height of the plane
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Vector3D d1; // Unit vector in the plane
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Vector3D d2; // Unit vector in the plane
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Vector3D normalVector; // Unit normal vector of the plane
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Plane(const Position& position, float width, float height, const Vector3D& d1, const Vector3D& d2); // Constructor of the class Plane
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public :
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Plane(const Vector3D& position, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass); // Constructor of the class Plane
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virtual ~Plane(); // Destructor of the class Plane
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virtual void draw() const; // Method to draw the plane
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};
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@ -31,7 +31,7 @@ OutSideCamera::OutSideCamera() {
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heightFromFloor = 20.0;
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horizontalAngleRotation = 0;
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verticalAngleRotation = 45;
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distanceFromOrigin = 10.0;
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distanceFromOrigin = 40.0;
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lookAtPoint.setAllValues(0.0, 0.0, 0.0);
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// Update the position of the camera
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@ -61,7 +61,7 @@ void OutSideCamera::updatePosition() {
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void OutSideCamera::modifyHorizontalAngleRotation(int screenDistance, float fps) {
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// Update the horizontal rotation angle of the camera
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horizontalAngleRotation = (horizontalAngleRotation + int(screenDistance * 60.0 / fps)) % 360;
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horizontalAngleRotation = (horizontalAngleRotation + int(screenDistance * 700.0 / fps)) % 360;
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// Update the position and the view vector of the camera
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updatePosition();
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@ -72,7 +72,7 @@ void OutSideCamera::modifyHorizontalAngleRotation(int screenDistance, float fps)
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void OutSideCamera::modifyVerticalAngleRotation(int screenDistance, float fps) {
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// Update the vertical rotation angle of the camera
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verticalAngleRotation = verticalAngleRotation + (screenDistance * 60.0 / fps);
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verticalAngleRotation = verticalAngleRotation + (screenDistance * 700.0 / fps);
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// Vertical angle limits
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if (verticalAngleRotation > 89) {
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@ -23,7 +23,6 @@
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// Libraries
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#include "Context.h"
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#include "OutSideCamera.h"
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#include <SDL/SDL.h>
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#include <GL/freeglut.h> // Used only to draw cubes
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#include <GL/gl.h>
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@ -22,16 +22,23 @@
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#include "ReactDemo.h"
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#include <iostream>
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// We want to use the ReactPhysics3D namespace
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using namespace reactphysics3d;
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// Constructor of the class Simulation
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Simulation::Simulation() {
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Simulation::Simulation()
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:world(new DynamicWorld(Vector3D(0.0, -9.81, 0.0))), engine(world, Time(0.01)){
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simRunning = false;
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mouseButtonPressed = false;
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nbFrame = 0;
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lastFrameTime = 0.0;
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fps = 0.0;
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}
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// Destructor of the class Simulation
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Simulation::~Simulation() {
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// Delete the physics world object
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delete world;
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}
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// Method to start the simulation
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@ -42,24 +49,69 @@ void Simulation::start() {
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// Reshape the windows for the first time
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scene.reshape(WINWIDTH, WINHEIGHT);
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// Add every rigid body to the dynamic world
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for (int i=0; i<context.getNbObjects(); ++i) {
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world->addBody(context.getObject(i).getRigidBody());
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}
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// Activation of the simulation
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simRunning = true;
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// Get the current time
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currentFrameTime = SDL_GetTicks();
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lastFrameTime = SDL_GetTicks();
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// Initialize the display time
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engine.initializeDisplayTime(Time(SDL_GetTicks()/1000.0));
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// Start the physics simulation
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engine.start();
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// Main loop of the simulation
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while(simRunning) {
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// Check if an SDL event occured and make the apropriate actions
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checkEvents();
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double time = SDL_GetTicks()/1000.0;
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std::cout << "Time : " << time << std::endl;
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// Update the display time
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engine.updateDisplayTime(Time(time));
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// Update the physics
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engine.update();
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// Display the actual scene
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scene.display(context);
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// Compute the fps (framerate)
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computeFps();
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std::cout << "FPS : " << fps << std::endl;
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//std::cout << fps << std::endl;
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BodyState state = context.getObject(0).getRigidBody()->getInterpolatedState();
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Vector3D velocity = context.getObject(0).getRigidBody()->getInterpolatedState().getLinearVelocity();
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//std::cout << "Velocity 0 : " << velocity.getX() << ", " << velocity.getY() << ", " << velocity.getZ() << ")" << std::endl;
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double x = state.getPosition().getX();
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double y = state.getPosition().getY();
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double z = state.getPosition().getZ();
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std::cout << "Position Cube 0 : (" << x << ", " << y << ", " << z << ")" << std::endl;
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std::cout << "linear velocity 0 : " << velocity.length() << std::endl;;
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BodyState state1 = context.getObject(1).getRigidBody()->getInterpolatedState();
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Vector3D velocity1 = context.getObject(1).getRigidBody()->getInterpolatedState().getLinearVelocity();
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//std::cout << "Velocity 1 : " << velocity1.getX() << ", " << velocity1.getY() << ", " << velocity1.getZ() << ")" << std::endl;
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double x1 = state1.getPosition().getX();
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double y1 = state1.getPosition().getY();
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double z1 = state1.getPosition().getZ();
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std::cout << "Position Cube 1 : (" << x1 << ", " << y1 << ", " << z1 << ")" << std::endl;
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std::cout << "linear velocity 1 : " << velocity1.length() << std::endl;
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BodyState state2 = context.getObject(2).getRigidBody()->getInterpolatedState();
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Vector3D velocity2 = context.getObject(2).getRigidBody()->getInterpolatedState().getLinearVelocity();
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//std::cout << "Velocity 2 : " << velocity2.getX() << ", " << velocity2.getY() << ", " << velocity2.getZ() << ")" << std::endl;
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double x2 = state2.getPosition().getX();
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double y2 = state2.getPosition().getY();
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double z2 = state2.getPosition().getZ();
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std::cout << "Position Cube 2: (" << x2 << ", " << y2 << ", " << z2 << ")" << std::endl;
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std::cout << "linear velocity 2 : " << velocity2.length() << std::endl;;
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}
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}
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@ -96,10 +148,8 @@ void Simulation::checkEvents() {
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// If the mouse moved
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case SDL_MOUSEMOTION: if (SDL_GetMouseState(NULL, NULL)&SDL_BUTTON(1)) {
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// Rotation of the outSideCamera
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// TODO : Problem here when we try to implement fps indepence (if we try to
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// replace 60 by the variable fps
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scene.getOutSideCamera().modifyHorizontalAngleRotation(event.motion.xrel, 30);
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scene.getOutSideCamera().modifyVerticalAngleRotation(event.motion.yrel, 30);
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scene.getOutSideCamera().modifyHorizontalAngleRotation(event.motion.xrel, fps);
|
||||
scene.getOutSideCamera().modifyVerticalAngleRotation(event.motion.yrel, fps);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -107,11 +157,17 @@ void Simulation::checkEvents() {
|
|||
|
||||
// Compute the framerate (fps) of the application
|
||||
void Simulation::computeFps() {
|
||||
double lastFrameTime = currentFrameTime;
|
||||
|
||||
// Increment the number of frame in the last second
|
||||
nbFrame++;
|
||||
|
||||
// Get the current time
|
||||
currentFrameTime = SDL_GetTicks();
|
||||
double currentTime = SDL_GetTicks();
|
||||
|
||||
// Compute the new framerate
|
||||
fps = 1000 / double(currentFrameTime - lastFrameTime);
|
||||
// Compute the framerate
|
||||
if (currentTime - lastFrameTime > 1000.0) {
|
||||
fps = nbFrame * 1000.0/(currentTime-lastFrameTime);
|
||||
lastFrameTime = currentTime;
|
||||
nbFrame = 0;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -23,15 +23,19 @@
|
|||
// Librairies
|
||||
#include "Context.h"
|
||||
#include "Scene.h"
|
||||
#include "../reactphysics3d/reactphysics3d.h"
|
||||
|
||||
// Class Simulation
|
||||
class Simulation {
|
||||
private :
|
||||
Scene scene; // Scene object for displaying the simulation
|
||||
Context context; // Context of the simulation
|
||||
rp3d::DynamicWorld* world; // Pointer to the dynamic world that contains bodies of the simulation
|
||||
rp3d::DynamicEngine engine; // Dynamic engine for the physics of the simulation
|
||||
bool simRunning; // True if the simulation is running and false otherwise
|
||||
bool mouseButtonPressed; // True if the left mouse button is pressed
|
||||
double currentFrameTime; // Current frame time
|
||||
double lastFrameTime; // Last frame time
|
||||
int nbFrame; // Number of frame (used to compute the framerate)
|
||||
double fps; // Framerate of the application
|
||||
|
||||
void computeFps(); // Compute the framerate of the application
|
||||
|
|
|
|||
|
|
@ -87,7 +87,7 @@ int initSDL() {
|
|||
}
|
||||
|
||||
// Define the window title and the window icon
|
||||
SDL_WM_SetCaption("React Demo 0.01", NULL);
|
||||
SDL_WM_SetCaption("React Demo 0.02", NULL);
|
||||
|
||||
// Get the state of the Double Buffer parameter
|
||||
int nValue;
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user