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git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@363 92aac97c-a6ce-11dd-a772-7fcde58d38e6

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chappuis.daniel 2010-07-19 19:42:47 +00:00
parent 35d95ddaeb
commit 7f4c6833cb
6 changed files with 184 additions and 149 deletions
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48
sources/demo/Context.cpp
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@ -29,19 +29,49 @@ using namespace reactphysics3d;
// Constructor of the class Context
Context::Context() {
Cube* cube1 = new Cube(Vector3D(5.0, 13.0, 1), Quaternion(1.0, 1.0, 0.0, 0.0), 4.0, Kilogram(3.0));
Cube* cube2 = new Cube(Vector3D(5.0, 13.0, 9), Quaternion(0.5, 0.5, 0.5, 0.0), 4.0, Kilogram(3.0));
cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, 0.0, 0.5));
cube2->getRigidBody()->setLinearVelocity(Vector3D(0.0, 0.0, -0.5));
/*
Cube* cube1 = new Cube(Vector3D(0.0, 10.0, 0.0), Quaternion(1.0, 1.0, 0.0, 0.0), 3.0, Kilogram(1.0));
Cube* cube2 = new Cube(Vector3D(0.0, 0.0, 0.0), Quaternion(1.0, 1.0, 0.0, 0.0), 3.0, Kilogram(1.0));
//cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, 0.0, 0.0));
//cube2->getRigidBody()->setLinearVelocity(Vector3D(0.0, 0.0, 0.0));
cube2->getRigidBody()->setIsMotionEnabled(false);
cube1->getRigidBody()->setRestitution(0.5);
cube2->getRigidBody()->setRestitution(0.5);
*/
//Cube* cube2 = new Cube(Vector3D(0.0, 17, 8.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(2.0));
//Cube* cube3 = new Cube(Vector3D(4.0, 17, -2.0), Quaternion(0.0, 1.0, 0.0, 0.0), 2.0, Kilogram(11.0));
//Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), Quaternion(0.0, 1.0, 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));
for (int i=20; i>1; i=i-3) {
Cube* cube = new Cube(Vector3D(3.0, i, i*0.2), Quaternion(1.0, 1.0, 0.0, 0.0), 2.0, Kilogram(1.0));
cube->getRigidBody()->setRestitution(0.7);
addObject(cube);
}
Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), Quaternion(0.0, 1.0, 0.0 , 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0), Kilogram(1.0));
plane1->getRigidBody()->setRestitution(0.7);
plane1->getRigidBody()->setIsMotionEnabled(false);
addObject(plane1);
/*
Cube* cube1 = new Cube(Vector3D(4.0, 11.0, 5.0), Quaternion(1.0, 0.3, 0.8, 0.0), 2.0, Kilogram(3.0));
//Cube* cube2 = new Cube(Vector3D(3.0, 9, 3.0), Quaternion(1.0, 1.0, 0.0, 0.0), 2.0, Kilogram(2.0));
cube1->getRigidBody()->setRestitution(0.4);
//cube2->getRigidBody()->setRestitution(0.4);
//Cube* cube3 = new Cube(Vector3D(5.0, 13, 0.0), Quaternion(1.0, 1.0, 0.3, 0.0), 2.0, Kilogram(1.0));
//cube3->getRigidBody()->setRestitution(0.8);
Plane* plane1 = new Plane(Vector3D(0.0, 0.0, 0.0), Quaternion(0.0, 1.0, 0.2, 0.0), 20.0, 30.0, Vector3D(-1.0, 0.0, 0.0), Vector3D(0.0, 0.0, 1.0), Kilogram(1.0));
plane1->getRigidBody()->setRestitution(0.4);
plane1->getRigidBody()->setIsMotionEnabled(false);
addObject(cube1);
addObject(cube2);
//addObject(cube2);
//addObject(cube3);
//addObject(plane1);
addObject(plane1);
*/
}

174
sources/demo/Objects.cpp
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@ -16,56 +16,56 @@
* You should have received a copy of the GNU Lesser General Public License *
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
// Libraries
#include "Objects.h"
//#include <windows.h> // To avoid an error due to the #include <GL/glut.h>
// Libraries
#include "Objects.h"
//#include <windows.h> // To avoid an error due to the #include <GL/glut.h>
#include <GL/freeglut.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glu.h>
#include <cmath>
#include <iostream>
// ----- Class Object ----- //
// Constructor of the class Object
#include <iostream>
// ----- Class Object ----- //
// Constructor of the class Object
Object::Object(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb)
:rigidBody(new RigidBody(position, orientation, mass, inertiaTensor, obb)) {
}
// Destructor of the class Object
Object::~Object() {
:rigidBody(new RigidBody(position, orientation, mass, inertiaTensor, obb)) {
}
// Destructor of the class Object
Object::~Object() {
// Delete the rigid body object
delete rigidBody;
delete rigidBody;
}
// Return the pointer to the rigid body
RigidBody* Object::getRigidBody() {
return rigidBody;
}
// ----- Class Cube ----- //
}
// ----- Class Cube ----- //
// Static attributes
const Matrix3x3 Cube::inertiaTensor;
// Constructor of the class Cube
Cube::Cube(const Vector3D& position, const Quaternion& orientation, float size, const Kilogram& mass)
:Object(position, orientation, 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), 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;
}
// Destructor of the classe Cube
Cube::~Cube() {
}
// Method to draw the cube
// Constructor of the class Cube
Cube::Cube(const Vector3D& position, const Quaternion& orientation, float size, const Kilogram& mass)
:Object(position, orientation, 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), OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0),
size/2.0, size/2.0, size/2)) {
this->size = size;
}
// Destructor of the classe Cube
Cube::~Cube() {
}
// Method to draw the cube
void Cube::draw() const {
// Get the interpolated state of the rigid body
@ -80,44 +80,44 @@ void Cube::draw() const {
Vector3D orientationAxis;
double orientationAngle;
state.getOrientation().getRotationAngleAxis(orientationAngle, orientationAxis);
// Translation of the cube to its position
// Translation of the cube to its position
glTranslatef(x, y, z);
// Rotation of the cube according to its orientation
glRotatef(orientationAngle/PI*180.0, orientationAxis.getX(), orientationAxis.getY(), orientationAxis.getZ());
// Draw the cube
glutSolidCube(size);
}
// ----- Class Plane ----- //
// Constructor of the class Plane
Plane::Plane(const Vector3D& position, const Quaternion& orientation, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass)
glRotatef(orientationAngle/PI*180.0, orientationAxis.getX(), orientationAxis.getY(), orientationAxis.getZ());
// Draw the cube
glutSolidCube(size);
}
// ----- Class Plane ----- //
// Constructor of the class Plane
Plane::Plane(const Vector3D& position, const Quaternion& orientation, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass)
:Object(position, orientation, 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), 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;
width/2, 0.5, height/2)) { // TODO : Change the height of the OBB
this->width = width;
this->height = height;
this->d1 = d1;
this->d2 = d2;
// By default Planes in the demo cannot move
rigidBody->setIsMotionEnabled(false);
// Compute the unit normal vector of the plane by a cross product
normalVector = d1.crossProduct(d2).getUnit();
}
// Destructor of the class Plane
Plane::~Plane() {
}
// Method used to draw the plane
rigidBody->setIsMotionEnabled(false);
// Compute the unit normal vector of the plane by a cross product
normalVector = d1.crossProduct(d2).getUnit();
}
// Destructor of the class Plane
Plane::~Plane() {
}
// Method used to draw the plane
void Plane::draw() const {
// Get the interpolated state of the rigid body
@ -127,26 +127,26 @@ void Plane::draw() const {
double x = state.getPosition().getX();
double y = state.getPosition().getY();
double z = state.getPosition().getZ();
// Translation of the cube to its position
glTranslatef(x, y, z);
float halfWidth = width / 2.0;
float halfHeight = height / 2.0;
// Draw the plane
glBegin(GL_POLYGON);
glColor3f(1.0, 1.0, 1.0);
glVertex3f(x + d1.getX() * halfWidth + d2.getX() * halfHeight , y + d1.getY() * halfWidth + d2.getY() * halfHeight
, z + d1.getZ() * halfWidth + d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x + d1.getX() * halfWidth - d2.getX() * halfHeight , y + d1.getY() * halfWidth - d2.getY() * halfHeight
, z + d1.getZ() * halfWidth - d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x - d1.getX() * halfWidth - d2.getX() * halfHeight , y - d1.getY() * halfWidth - d2.getY() * halfHeight
, z - d1.getZ() * halfWidth - d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x - d1.getX() * halfWidth + d2.getX() * halfHeight , y - d1.getY() * halfWidth + d2.getY() * halfHeight
, z - d1.getZ() * halfWidth + d2.getZ() * halfHeight);
glEnd();
glTranslatef(x, y, z);
float halfWidth = width / 2.0;
float halfHeight = height / 2.0;
// Draw the plane
glBegin(GL_POLYGON);
glColor3f(1.0, 1.0, 1.0);
glVertex3f(x + d1.getX() * halfWidth + d2.getX() * halfHeight , y + d1.getY() * halfWidth + d2.getY() * halfHeight
, z + d1.getZ() * halfWidth + d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x + d1.getX() * halfWidth - d2.getX() * halfHeight , y + d1.getY() * halfWidth - d2.getY() * halfHeight
, z + d1.getZ() * halfWidth - d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x - d1.getX() * halfWidth - d2.getX() * halfHeight , y - d1.getY() * halfWidth - d2.getY() * halfHeight
, z - d1.getZ() * halfWidth - d2.getZ() * halfHeight);
glNormal3f(normalVector.getX(), normalVector.getY(), normalVector.getZ());
glVertex3f(x - d1.getX() * halfWidth + d2.getX() * halfHeight , y - d1.getY() * halfWidth + d2.getY() * halfHeight
, z - d1.getZ() * halfWidth + d2.getZ() * halfHeight);
glEnd();
}

88
sources/demo/Objects.h
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@ -17,60 +17,60 @@
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
***************************************************************************/
#ifndef OBJECTS_H
#define OBJECTS_H
#ifndef OBJECTS_H
#define OBJECTS_H
// Libraries
#include "../reactphysics3d/reactphysics3d.h"
// Namespaces
using namespace reactphysics3d;
/*
Here we define all the objects that can appear in the simulation like cube, sphere, plane, ...
*/
// ----- Class Object (abstract) ----- //
// Represent an object of the simulation
/*
Here we define all the objects that can appear in the simulation like cube, sphere, plane, ...
*/
// ----- Class Object (abstract) ----- //
// Represent an object of the simulation
class Object {
protected :
RigidBody* rigidBody; // Rigid Body that represents the object
public :
Object(const Vector3D& position, const Quaternion& orientation, const Kilogram& mass, const Matrix3x3& inertiaTensor, const OBB& obb); // Constructor of the class Object
virtual ~Object(); // Destructor of the class Object
public :
Object(const Vector3D& position, const Quaternion& orientation, 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
};
// ----- Class Cube ----- //
// Represente a Cube in the simulation
class Cube : public Object {
private :
float size; // Size of a side in the cube
static const Matrix3x3 inertiaTensor; // Inertia tensor of a cube
public :
Cube(const Vector3D& position, const Quaternion& orientation, float size, const Kilogram& mass); // Constructor of the class cube
virtual ~Cube(); // Destructor of the class cube
virtual void draw() const; // Method to draw the cube
};
// ----- Class Plane ---- //
// 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
RigidBody* getRigidBody(); // Return the pointer to the rigid body
};
// ----- Class Cube ----- //
// Represente a Box in the simulation
class Cube : public Object {
private :
float size; // Size of a side in the box
static const Matrix3x3 inertiaTensor; // Inertia tensor of a box
public :
Cube(const Vector3D& position, const Quaternion& orientation, float size, const Kilogram& mass); // Constructor of the class cube
virtual ~Cube(); // Destructor of the class cube
virtual void draw() const; // Method to draw the cube
};
// ----- Class Plane ---- //
// 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
public :
Plane(const Vector3D& position, const Quaternion& orientation, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass); // Constructor of the class Plane
virtual ~Plane(); // Destructor of the class Plane
virtual void draw() const; // Method to draw the plane
};
#endif
public :
Plane(const Vector3D& position, const Quaternion& orientation, float width, float height, const Vector3D& d1, const Vector3D& d2, const Kilogram& mass); // Constructor of the class Plane
virtual ~Plane(); // Destructor of the class Plane
virtual void draw() const; // Method to draw the plane
};
#endif

6
sources/demo/OutSideCamera.cpp
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@ -25,10 +25,10 @@
OutSideCamera::OutSideCamera() {
// Initialize the attributes
heightFromFloor = 20.0;
horizontalAngleRotation = 0;
heightFromFloor = 10.0;
horizontalAngleRotation = 45;
verticalAngleRotation = 45;
distanceFromOrigin = 40.0;
distanceFromOrigin = 30.0;
lookAtPoint.setAllValues(0.0, 0.0, 0.0);
// Update the position of the camera

13
sources/demo/Scene.cpp
View File

@ -98,6 +98,7 @@ void Scene::display(const Context& context) const {
// Draw all objects in the context
for(int i=0; i<context.getNbObjects(); ++i)
{
// Copy the active matrix on the matrix stack
glPushMatrix();
@ -112,14 +113,16 @@ void Scene::display(const Context& context) const {
// Remove the matrix on the top of the matrix stack
glPopMatrix();
}
// Draw all the contact points
for (std::vector<Constraint*>::iterator it = world->getConstraintsBeginIterator(); it != world->getConstraintsEndIterator(); ++it) {
RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
rigidBody1->setIsMotionEnabled(false);
rigidBody2->setIsMotionEnabled(false);
//rigidBody1->setIsMotionEnabled(false);
//rigidBody2->setIsMotionEnabled(false);
Contact* contact = dynamic_cast<Contact*>((*it));
assert(contact != 0);
@ -131,8 +134,10 @@ void Scene::display(const Context& context) const {
glPopMatrix();
}
// Change the buffers
SDL_GL_SwapBuffers();
glFlush();
// Swap the buffers
SDL_GL_SwapBuffers();
}
// Reshape the window

4
sources/demo/Simulation.cpp
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@ -27,7 +27,7 @@ using namespace reactphysics3d;
// Constructor of the class Simulation
Simulation::Simulation()
:world(new PhysicsWorld(Vector3D(0.0, 0.0, 0.0))), engine(world, Time(0.01)), scene(this->world) {
:world(new PhysicsWorld(Vector3D(0.0, -9.8, 0.0))), engine(world, Time(0.01)), scene(this->world) { // TODO : Change the timestep here after debugging
simRunning = false;
mouseButtonPressed = false;
nbFrame = 0;
@ -84,7 +84,7 @@ void Simulation::start() {
pEngine->updateDisplayTime(Time(time));
// Update the physics
pEngine->updateCollision();
pEngine->update();
// Display the actual scene
scene.display(context);