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Add bridge scene to the testbed application

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This commit is contained in:
Daniel Chappuis 2021-02-10 23:22:03 +01:00
parent e0555f1a57
commit 8ca63572f4
5 changed files with 336 additions and 0 deletions
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1
CHANGELOG.md
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@ -15,6 +15,7 @@ do not hesitate to take a look at the user manual.
- Method Joint::getReactionTorque() has been added to retrieve the current reaction torque of a joint
- Method RigidBody::setLinearLockAxisFactor() to lock the translational movement of a body along the world-space x, y and z axes
- Method RigidBody::setAngularLockAxisFactor() to lock the rotational movement of a body around the world-space x, y and z axes
- Bridge scene has been added to the testbed application
### Changed

2
testbed/CMakeLists.txt
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@ -150,6 +150,8 @@ set(SCENES_SOURCES
scenes/pile/PileScene.cpp
scenes/boxtower/BoxTowerScene.h
scenes/boxtower/BoxTowerScene.cpp
scenes/bridge/BridgeScene.h
scenes/bridge/BridgeScene.cpp
)
# Create the executable

241
testbed/scenes/bridge/BridgeScene.cpp Normal file
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@ -0,0 +1,241 @@
/********************************************************************************
* 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 "BridgeScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace bridgescene;
// Constructor
BridgeScene::BridgeScene(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, 0, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
// Gravity vector in the physics world
rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 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;
for (int b=0; b < NB_BRIDGES; b++) {
// Create all the boxes of the scene
for (int i=0; i<NB_BOXES; i++) {
const uint boxIndex = b * NB_BOXES + i;
// Create a box and a corresponding rigid in the physics world
mBoxes[boxIndex] = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Set the box color
mBoxes[boxIndex]->setColor(mObjectColorDemo);
mBoxes[boxIndex]->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mBoxes[boxIndex]->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.0));
if (i == 0 || i == NB_BOXES-1) {
mBoxes[boxIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC);
}
// Add the box the list of boxes in the scene
mPhysicsObjects.push_back(mBoxes[boxIndex]);
}
}
// Create all the spheres of the scene
for (int i=0; i<NB_BRIDGES; i++) {
// Create a sphere and a corresponding rigid in the physics world
mSpheres[i] = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Set the box color
mSpheres[i]->setColor(mObjectColorDemo);
mSpheres[i]->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mSpheres[i]->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
mSpheres[i]->getRigidBody()->setMass(SPHERE_MASS);
// Add the sphere the list of sphere in the scene
mPhysicsObjects.push_back(mSpheres[i]);
}
// Set the position of the boxes before the joints creation
reset();
// Create the Ball-and-Socket joints
createJoints();
// 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
BridgeScene::~BridgeScene() {
// Destroy the joints
for (uint i=0; i < mHingeJoints.size(); i++) {
if (mHingeJoints[i] != nullptr) {
mPhysicsWorld->destroyJoint(mHingeJoints[i]);
}
}
// Destroy all the rigid bodies of the scene
for (int i=0; i<NB_BOXES * NB_BRIDGES; i++) {
mPhysicsWorld->destroyRigidBody(mBoxes[i]->getRigidBody());
}
// Destroy the physics world
mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
}
// Create the joints
void BridgeScene::createJoints() {
for (int b=0; b < NB_BRIDGES; b++) {
for (int i=0; i < NB_BOXES-1; i++) {
const uint box1Index = b * NB_BOXES + i;
const uint box2Index = b * NB_BOXES + i + 1;
// Create the joint info object
rp3d::RigidBody* body1 = mBoxes[box1Index]->getRigidBody();
rp3d::RigidBody* body2 = mBoxes[box2Index]->getRigidBody();
rp3d::Vector3 body1Position = body1->getTransform().getPosition();
rp3d::Vector3 body2Position = body2->getTransform().getPosition();
const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0);
rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1));
jointInfo.isCollisionEnabled = false;
rp3d::HingeJoint* joint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
mHingeJoints.push_back(joint);
}
}
}
// Update the physics simulation
void BridgeScene::updatePhysics() {
SceneDemo::updatePhysics();
// Test if the joints of the last bridge should break or not
for (int i=0; i <NB_BOXES-1; i++) {
const uint jointIndex = mHingeJoints.size() - 1 - i;
rp3d::HingeJoint* joint = mHingeJoints[jointIndex];
if (joint != nullptr) {
if (joint->getReactionForce(mEngineSettings.timeStep).lengthSquare() > 60000000) {
mPhysicsWorld->destroyJoint(joint);
mHingeJoints[jointIndex] = nullptr;
}
}
}
}
// Reset the scene
void BridgeScene::reset() {
SceneDemo::reset();
const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
// Bridges
for (int b=0; b < NB_BRIDGES; b++) {
for (int i=0; i < NB_BOXES; i++) {
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition((-NB_BOXES/2 + i) * (BOX_SIZE.x + 0.2),
-7,
(-NB_BRIDGES/2 + b) * (BOX_SIZE.z + 4));
rp3d::Transform transform(initPosition, initOrientation);
// Create a box and a corresponding rigid in the physics world
mBoxes[b * NB_BOXES + i]->setTransform(transform);
}
}
// Spheres
for (int i=0; i < NB_BRIDGES; i++) {
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(0,
10,
(-NB_BRIDGES/2 + i) * (BOX_SIZE.z + 4));
rp3d::Transform transform(initPosition, initOrientation);
// Create a box and a corresponding rigid in the physics world
mSpheres[i]->setTransform(transform);
}
// Destroy the joints
for (uint i=0; i < mHingeJoints.size(); i++) {
if (mHingeJoints[i] != nullptr) {
mPhysicsWorld->destroyJoint(mHingeJoints[i]);
}
}
mHingeJoints.clear();
createJoints();
}

86
testbed/scenes/bridge/BridgeScene.h Normal file
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@ -0,0 +1,86 @@
/********************************************************************************
* 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 BRIDGE_SCENE_H
#define BRIDGE_SCENE_H
// Libraries
#include "openglframework.h"
#include <reactphysics3d/reactphysics3d.h>
#include "Box.h"
#include "Sphere.h"
#include "SceneDemo.h"
namespace bridgescene {
// Constants
const float SCENE_RADIUS = 60.0f;
const float SPHERE_RADIUS = 2.0f;
const float SPHERE_MASS = 40.0f;
const openglframework::Vector3 BOX_SIZE = openglframework::Vector3(2, 0.5, 4);
const int NB_BRIDGES = 4;
const int NB_BOXES = 16;
// Class BridgeScene scene
class BridgeScene : public SceneDemo {
protected :
// -------------------- Attributes -------------------- //
/// Boxes
Box* mBoxes[NB_BOXES * NB_BRIDGES];
/// Spheres
Sphere* mSpheres[NB_BRIDGES];
/// Hinge joints of the bridge
std::vector<rp3d::HingeJoint*> mHingeJoints;
// -------------------- Methods -------------------- //
/// Create the joints
void createJoints();
public:
// -------------------- Methods -------------------- //
/// Constructor
BridgeScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~BridgeScene() override ;
/// Update the physics simulation
virtual void updatePhysics() override;
/// Reset the scene
virtual void reset() override;
};
}
#endif

6
testbed/src/TestbedApplication.cpp
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@ -42,6 +42,7 @@
#include "ballandsocketjointsnet/BallAndSocketJointsNetScene.h"
#include "ballandsocketjointschain/BallAndSocketJointsChainScene.h"
#include "hingejointschain/HingeJointsChainScene.h"
#include "bridge/BridgeScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -57,6 +58,7 @@ using namespace boxtowerscene;
using namespace ballandsocketjointsnetscene;
using namespace ballandsocketjointschainscene;
using namespace hingejointschainscene;
using namespace bridgescene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -171,6 +173,10 @@ void TestbedApplication::createScenes() {
HingeJointsChainScene* hingeJointsChainScene = new HingeJointsChainScene("Hinge Joints Chain", mEngineSettings);
mScenes.push_back(hingeJointsChainScene);
// Bridge scene
BridgeScene* bridgeScene = new BridgeScene("Bridge", mEngineSettings);
mScenes.push_back(bridgeScene);
assert(mScenes.size() > 0);
const int firstSceneIndex = 0;