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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@175 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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This commit is contained in:
chappuis.daniel 2009-07-21 20:28:27 +00:00
parent de86ab541a
commit 7ed1e2c241
6 changed files with 38 additions and 27 deletions
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12
sources/demo/Context.cpp
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@ -30,14 +30,14 @@ using namespace reactphysics3d;
Context::Context() {
// We add some objects in the context at the beginning ---> THESE THINGS WILL BE STORE IN A TEXT FILE
Cube* cube1 = new Cube(Vector3D(-2.0, 3, -6.0), 2.0, 10.0);
Cube* cube2 = new Cube(Vector3D(0.0, 3, 6.0), 3.0, 5.0);
Cube* cube3 = new Cube(Vector3D(4.0, 3.0, -2.0), 2.0, 0.01);
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);
Cube* cube1 = new Cube(Vector3D(-2.0, 10, -6.0), 3.0, Kilogram(30.0));
//Cube* cube2 = new Cube(Vector3D(-3.0, 13, 1.0), 3.0, Kilogram(2.0));
//Cube* cube3 = new Cube(Vector3D(4.0, 10, -2.0), 2.0, Kilogram(11.0));
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), Kilogram(10.0));
addObject(cube1);
addObject(cube2);
addObject(cube3);
//addObject(cube2);
//addObject(cube3);
addObject(plane1);
}

10
sources/demo/Objects.cpp
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@ -30,8 +30,8 @@
// ----- Class Object ----- //
// Constructor of the class Object
Object::Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor)
:rigidBody(new RigidBody(position, mass, inertiaTensor)) {
Object::Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
:rigidBody(new RigidBody(position, mass, inertiaTensor, obb)) {
}
@ -55,7 +55,8 @@ const Matrix3x3 Cube::inertiaTensor;
Cube::Cube(const Vector3D& position, float size, const Kilogram& mass)
:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*2*size*size, 0.0, 0.0,
0.0, 1.0/12.0*mass.getValue()*2*size*size, 0.0,
0.0, 0.0, 1.0/12.0*mass.getValue()*2*size*size)) {
0.0, 0.0, 1.0/12.0*mass.getValue()*2*size*size), OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0),
size/2, size/2, size/2)) {
this->size = size;
}
@ -97,7 +98,8 @@ void Cube::draw() const {
Plane::Plane(const Vector3D& position, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass)
:Object(position, mass, Matrix3x3(1.0/12.0*mass.getValue()*height*height, 0.0, 0.0,
0.0, 1.0/12.0*mass.getValue()*(width*width+height*height), 0.0,
0.0, 0.0, 1.0/12.0*mass.getValue()*width*width)) {
0.0, 0.0, 1.0/12.0*mass.getValue()*width*width), OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0),
width/2, 0.5, height/2)) { // TODO : Change the height of the OBB
this->width = width;
this->height = height;
this->d1 = d1;

18
sources/demo/Objects.h
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@ -37,11 +37,11 @@ class Object {
RigidBody* rigidBody; // Rigid Body that represents the object
public :
Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor); // Constructor of the class Object
virtual ~Object(); // Destructor of the class Object
Object(const Vector3D& position, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb); // Constructor of the class Object
virtual ~Object(); // Destructor of the class Object
virtual void draw() const =0; // pure virtual method to draw the object
RigidBody* getRigidBody(); // Return the pointer to the rigid body
virtual void draw() const =0; // pure virtual method to draw the object
RigidBody* getRigidBody(); // Return the pointer to the rigid body
};
// ----- Class Cube ----- //
@ -61,11 +61,11 @@ class Cube : public Object {
// Represent a plane in the simulation
class Plane : public Object {
private :
float width; // Width of the plane
float height; // Height of the plane
Vector3D d1; // Unit vector in the plane
Vector3D d2; // Unit vector in the plane
Vector3D normalVector; // Unit normal vector of the plane
float width; // Width of the plane
float height; // Height of the plane
Vector3D d1; // Unit vector in the plane
Vector3D d2; // Unit vector in the plane
Vector3D normalVector; // Unit normal vector of the plane
public :
Plane(const Vector3D& position, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass); // Constructor of the class Plane

8
sources/demo/Scene.cpp
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@ -97,7 +97,13 @@ void Scene::display(const Context& context) const {
glPushMatrix();
// Draw the object
context.getObject(i).draw();
context.getObject(i).draw();
glPopMatrix();
glPushMatrix();
// Draw the bounding volume
context.getObject(i).getRigidBody()->getOBB().draw();
// Remove the matrix on the top of the matrix stack
glPopMatrix();

13
sources/demo/Simulation.cpp
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@ -26,7 +26,8 @@
using namespace reactphysics3d;
// Constructor of the class Simulation
Simulation::Simulation() :world(new DynamicWorld(Vector3D(0.0, -2.81, 0.0))), engine(world, Time(0.01)) {
Simulation::Simulation()
:world(new CollisionWorld(Vector3D(0.0, -1.0, 0.0))), engine(world, Time(0.01)) {
simRunning = false;
mouseButtonPressed = false;
nbFrame = 0;
@ -59,11 +60,13 @@ void Simulation::start() {
// Get the current time
lastFrameTime = SDL_GetTicks();
DynamicEngine* pEngine = &engine;
// Initialize the display time
engine.initializeDisplayTime(Time(SDL_GetTicks()/1000.0));
pEngine->initializeDisplayTime(Time(SDL_GetTicks()/1000.0));
// Start the physics simulation
engine.start();
pEngine->start();
// Main loop of the simulation
while(simRunning) {
@ -74,10 +77,10 @@ void Simulation::start() {
std::cout << "Time : " << time << std::endl;
// Update the display time
engine.updateDisplayTime(Time(time));
pEngine->updateDisplayTime(Time(time));
// Update the physics
engine.update();
pEngine->update();
// Display the actual scene
scene.display(context);

4
sources/demo/Simulation.h
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@ -30,8 +30,8 @@ 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
rp3d::CollisionWorld* world; // Pointer to the collision world that contains bodies of the simulation
rp3d::CollisionEngine engine; // Collision 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 lastFrameTime; // Last frame time