git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@274 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/demo/Context.cpp

@@ -29,7 +29,7 @@ using namespace reactphysics3d;
 // Constructor of the class Context
 Context::Context() {
 
-    Cube* cube1 = new Cube(Vector3D(0.0,14.0, 5.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(3.0));
+    Cube* cube1 = new Cube(Vector3D(11.0,14.0, 4.0), Quaternion(1.0, 1.0, 0.0, 0.0), 4.0, Kilogram(3.0));
     cube1->getRigidBody()->setLinearVelocity(Vector3D(0.0, -5.0, 0.0));
 
     //Cube* cube2 = new Cube(Vector3D(0.0, 17, 8.0), Quaternion(0.0, 1.0, 0.0, 0.0), 3.0, Kilogram(2.0));

sources/demo/Scene.cpp

@@ -20,9 +20,14 @@
 // Librairies
 #include "Scene.h"
 #include "Objects.h"
+#include <GL/gl.h>
+#include <GL/glu.h>
 
 // Constructor of the class Scene
-Scene::Scene() {
+Scene::Scene(rp3d::PhysicsWorld* world) {
+
+    this->world = world;
+
     // Initialise the material specular color
     mat_specular[0] = 1.0;
     mat_specular[1] = 1.0;
@@ -109,6 +114,25 @@ void Scene::display(const Context& context) const {
        glPopMatrix();
     }
 
+    // Draw all the contact points
+    for (std::vector<Constraint*>::const_iterator it = world->getConstraintListStartIterator(); it != world->getConstraintListEndIterator(); ++it) {
+        RigidBody* rigidBody1 = dynamic_cast<RigidBody*>((*it)->getBody1());
+        RigidBody* rigidBody2 = dynamic_cast<RigidBody*>((*it)->getBody2());
+        rigidBody1->setIsMotionEnabled(false);
+        rigidBody2->setIsMotionEnabled(false);
+
+        Contact* contact = dynamic_cast<Contact*>((*it));
+        assert(contact != 0);
+
+        // Draw the contact points
+        for (unsigned int i=0; i<contact->getPoints().size(); ++i) {
+            glPushMatrix();
+            glTranslatef(contact->getPoints()[i].getX(), contact->getPoints()[i].getY(), contact->getPoints()[i].getZ());
+            contact->draw();
+            glPopMatrix();
+        }
+    }
+
 	// Change the buffers
 	SDL_GL_SwapBuffers();
 }

sources/demo/Scene.h

@@ -38,9 +38,10 @@ class Scene {
         GLfloat ambient_color[4];                        // Ambient color of the light
         GLfloat white_light[4];                          // White light color
         OutSideCamera outsideCamera;                     // OutSide camera (Camera that can move around the scene)
+        rp3d::PhysicsWorld* world;                     //"Pointer to the physics world
 
     public  :
-        Scene();                                        // constructor of the class
+        Scene(rp3d::PhysicsWorld* world);                                        // constructor of the class
         ~Scene();                                       // Destructor of the class
         void init();                                    // Initialize the values of OpenGL
         void display(const Context& context) const;     // display the scene

sources/demo/Simulation.cpp

@@ -27,7 +27,7 @@ using namespace reactphysics3d;
 
 // Constructor of the class Simulation
 Simulation::Simulation()
-           :world(new DynamicWorld(Vector3D(0.0, -0.6, 0.0))), engine(world, Time(0.01)) {
+           :world(new PhysicsWorld(Vector3D(0.0, -0.6, 0.0))), engine(world, Time(0.01)), scene(this->world) {
     simRunning = false;
     mouseButtonPressed = false;
     nbFrame = 0;

sources/demo/Simulation.h

@@ -28,10 +28,10 @@
 // Class Simulation
 class Simulation {
     private :
+        rp3d::PhysicsWorld* world;    // Pointer to the collision world that contains bodies of the simulation
         Scene scene;                    // Scene object for displaying the simulation
         Context context;                // Context of the simulation
-        rp3d::DynamicWorld* world;    // Pointer to the collision world that contains bodies of the simulation
+        rp3d::CollisionEngine engine;   // Collision engine for the physics of the simulation
-        rp3d::DynamicEngine 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

sources/demo/main.cpp

@@ -25,7 +25,6 @@
 #include <iostream>
 #include <SDL/SDL.h>
 
-
 // Prototypes
 int initSDL();
 
@@ -56,8 +55,6 @@ int main(int argc, char** argv) {
     (argv);
 
     return (EXIT_SUCCESS);
-
-    return 0;
 }
 
 // Methode to initialise the SDL and the windows