Add demo scene with BallAndSocket joints net in the testbed application

testbed/CMakeLists.txt

@@ -123,6 +123,8 @@ set(COMMON_SOURCES
 
 # Examples scenes source files
 set(SCENES_SOURCES
+    scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h
+    scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp
     scenes/cubes/CubesScene.h
     scenes/cubes/CubesScene.cpp
     scenes/joints/JointsScene.h

testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.cpp

@@ -0,0 +1,202 @@
+/********************************************************************************
+* 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 "BallAndSocketJointsNetScene.h"
+#include <cmath>
+
+// Namespaces
+using namespace openglframework;
+using namespace ballandsocketjointsnetscene;
+
+// Constructor
+BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(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, 5, 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;
+
+    // Create all the spheres of the scene
+    for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
+
+        for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
+
+            // Create a sphere and a corresponding rigid in the physics world
+            Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+
+            // Set the sphere color
+            sphere->setColor(mObjectColorDemo);
+            sphere->setSleepingColor(mSleepingColorDemo);
+
+            // Change the material properties of the rigid body
+            rp3d::Material& material = sphere->getCollider()->getMaterial();
+            material.setBounciness(rp3d::decimal(0.0));
+
+            // Add the sphere the list of sphere in the scene
+            mNetSpheres[i][j] = sphere;
+            mPhysicsObjects.push_back(sphere);
+        }
+    }
+
+    // Set the position of the spheres before the joints creation
+    reset();
+
+    // Create the Ball-and-Socket joints
+    createJoints();
+
+    // Create the main sphere
+    mMainSphere = new Sphere(true, 10, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
+    mMainSphere->setColor(mObjectColorDemo);
+    mMainSphere->setSleepingColor(mSleepingColorDemo);
+    rp3d::Vector3 initPosition(0, 0, 0);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+    mMainSphere->setTransform(transform);
+    mMainSphere->getRigidBody()->setType(rp3d::BodyType::STATIC);
+    rp3d::Material& material = mMainSphere->getCollider()->getMaterial();
+    material.setBounciness(rp3d::decimal(0.0));
+    mPhysicsObjects.push_back(mMainSphere);
+
+    // 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
+BallAndSocketJointsNetScene::~BallAndSocketJointsNetScene() {
+
+    // Destroy the joints
+    for (uint i=0; i < mBallAndSocketJoints.size(); i++) {
+
+        mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]);
+    }
+
+    // Destroy all the rigid bodies of the scene
+    for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
+
+        for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
+
+            mPhysicsWorld->destroyRigidBody(mNetSpheres[i][j]->getRigidBody());
+        }
+    }
+    mPhysicsWorld->destroyRigidBody(mMainSphere->getRigidBody());
+
+    // Destroy the physics world
+    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
+}
+
+// Create the joints
+void BallAndSocketJointsNetScene::createJoints() {
+
+    for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
+
+        for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
+
+            if (i > 0) {
+
+                // Create the joint info object
+                rp3d::RigidBody* body1 = mNetSpheres[i-1][j]->getRigidBody();
+                rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody();
+                rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+                rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+                //const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
+                const rp3d::Vector3 anchorPointWorldSpace = body2Position;
+                rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
+                jointInfo.isCollisionEnabled = false;
+                rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>( mPhysicsWorld->createJoint(jointInfo));
+                mBallAndSocketJoints.push_back(joint);
+            }
+
+            if (j > 0) {
+
+                // Create the joint info object
+                rp3d::RigidBody* body1 = mNetSpheres[i][j-1]->getRigidBody();
+                rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody();
+                rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+                rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+                const rp3d::Vector3 anchorPointWorldSpace = body2Position;
+                rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
+                jointInfo.isCollisionEnabled = false;
+                rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>( mPhysicsWorld->createJoint(jointInfo));
+                mBallAndSocketJoints.push_back(joint);
+            }
+        }
+    }
+}
+
+// Reset the scene
+void BallAndSocketJointsNetScene::reset() {
+
+    SceneDemo::reset();
+
+    const float space = 0.3f;
+    const float startX = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space));
+    const float startZ = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space));
+
+    const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+
+    for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
+
+        for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
+
+            // Initial position and orientation of the rigid body
+            rp3d::Vector3 initPosition(startX + i * (2 * SPHERE_RADIUS + space), 12, startZ + j * (2 * SPHERE_RADIUS + space));
+            rp3d::Transform transform(initPosition, initOrientation);
+
+            // Create a box and a corresponding rigid in the physics world
+            mNetSpheres[i][j]->setTransform(transform);
+        }
+    }
+}

testbed/scenes/ballandsocketjointsnet/BallAndSocketJointsNetScene.h

@@ -0,0 +1,79 @@
+/********************************************************************************
+* 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 BALL_AND_SOCKET_JOINTS_NET_SCENE_H
+#define BALL_AND_SOCKET_JOINTS_NET_SCENE_H
+
+// Libraries
+#include "openglframework.h"
+#include <reactphysics3d/reactphysics3d.h>
+#include "Sphere.h"
+#include "SceneDemo.h"
+
+namespace ballandsocketjointsnetscene {
+
+// Constants
+const float SCENE_RADIUS = 40.0f;
+const float SPHERE_RADIUS = 0.5f;
+const int NB_ROWS_NET_SPHERES = 40;
+
+// Class JointsScene
+class BallAndSocketJointsNetScene : public SceneDemo {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Spheres in the Ball-And-Socket joint net
+        Sphere* mNetSpheres[NB_ROWS_NET_SPHERES][NB_ROWS_NET_SPHERES];
+
+        /// Main sphere
+        Sphere* mMainSphere;
+
+        /// Ball-And-Socket joints of the chain
+        std::vector<rp3d::BallAndSocketJoint*> mBallAndSocketJoints;
+
+        // -------------------- Methods -------------------- //
+
+        /// Create the joints
+        void createJoints();
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        BallAndSocketJointsNetScene(const std::string& name, EngineSettings& settings);
+
+        /// Destructor
+        virtual ~BallAndSocketJointsNetScene() override ;
+
+        /// Reset the scene
+        virtual void reset() override;
+};
+
+}
+
+#endif

testbed/src/TestbedApplication.cpp

@@ -39,6 +39,7 @@
 #include "cubestack/CubeStackScene.h"
 #include "pile/PileScene.h"
 #include "boxtower/BoxTowerScene.h"
+#include "ballandsocketjointsnet/BallAndSocketJointsNetScene.h"
 
 using namespace openglframework;
 using namespace jointsscene;
@@ -51,6 +52,7 @@ using namespace collisiondetectionscene;
 using namespace cubestackscene;
 using namespace pilescene;
 using namespace boxtowerscene;
+using namespace ballandsocketjointsnetscene;
 
 // Initialization of static variables
 const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@@ -152,7 +154,12 @@ void TestbedApplication::createScenes() {
     mScenes.push_back(boxTowerScene);
     assert(mScenes.size() > 0);
 
-    const int firstSceneIndex = 0;
+    // Ball and Socket joints Net scene
+    BallAndSocketJointsNetScene* ballAndSocketJointsNetScene = new BallAndSocketJointsNetScene("BallAndSocket Joints Net", mEngineSettings);
+    mScenes.push_back(ballAndSocketJointsNetScene);
+    assert(mScenes.size() > 0);
+
+    const int firstSceneIndex = 10;
 
     switchScene(mScenes[firstSceneIndex]);
 }