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The Material is now part of the Collider instead of the RigidBody, fixes compilation errors with Logger and Profiler.

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This commit is contained in:
Daniel Chappuis 2020-02-01 13:41:30 +01:00
parent 36bdfe8037
commit c5873dbc6b
31 changed files with 378 additions and 228 deletions
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4
CHANGELOG.md
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@ -11,6 +11,10 @@
- Now, the collision shapes need be be created with the PhysicsWorld::createXXXShape() methods instead of using the constructor of the shape as before. For instance, you need to use the PhysicsWorld::createBoxShape() method to create a BoxShape.
- DynamicsWorld and CollisionWorld classes have been merged into a single class called PhysicsWorld.
- ProxyShape class has been renamed into Collider.
- The Material is now part of the Collider instead of the RigidBody. Therefore, it is now possible to have a RigidBody with multiple
colliders and a different material per Collider.
- The Logger has to be instanciated using the PhysicsCommon::createLogger() method instead of using its constructor.
- The Profiler has to be instanciated using the PhysicsCommon::createProfiler() method instead of using its constructor.
- There is now a single MemoryManager (with memory allocators) per PhysicsWorld. The memory allocators are no longer shared between worlds.
- An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method.
- An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method.

15
src/body/RigidBody.cpp
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@ -39,9 +39,7 @@ using namespace reactphysics3d;
* @param id The ID of the body
*/
RigidBody::RigidBody(PhysicsWorld& world, Entity entity)
: CollisionBody(world, entity),
mMaterial(world.mConfig.defaultFrictionCoefficient, world.mConfig.defaultRollingRestistance, world.mConfig.defaultBounciness),
mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
: CollisionBody(world, entity), mIsCenterOfMassSetByUser(false), mIsInertiaTensorSetByUser(false) {
}
@ -431,17 +429,6 @@ void RigidBody::setAngularDamping(decimal angularDamping) {
"Body " + std::to_string(mEntity.id) + ": Set angularDamping=" + std::to_string(angularDamping));
}
// Set a new material for this rigid body
/**
* @param material The material you want to set to the body
*/
void RigidBody::setMaterial(const Material& material) {
mMaterial = material;
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Body,
"Body " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string());
}
// Set the linear velocity of the rigid body.
/**
* @param linearVelocity Linear velocity vector of the body

18
src/body/RigidBody.h
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@ -29,7 +29,6 @@
// Libraries
#include <cassert>
#include "CollisionBody.h"
#include "engine/Material.h"
#include "mathematics/mathematics.h"
/// Namespace reactphysics3d
@ -58,9 +57,6 @@ class RigidBody : public CollisionBody {
/// by the user with respect to the center of mass of the body
Matrix3x3 mUserInertiaTensorLocalInverse;
/// Material properties of the rigid body
Material mMaterial;
/// True if the center of mass is set by the user
bool mIsCenterOfMassSetByUser;
@ -142,12 +138,6 @@ class RigidBody : public CollisionBody {
/// Set the variable to know if the gravity is applied to this rigid body
void enableGravity(bool isEnabled);
/// Return a reference to the material properties of the rigid body
Material& getMaterial();
/// Set a new material for this rigid body
void setMaterial(const Material& material);
/// Return the linear velocity damping factor
decimal getLinearDamping() const;
@ -216,14 +206,6 @@ class RigidBody : public CollisionBody {
friend class Joint;
};
// Return a reference to the material properties of the rigid body
/**
* @return A reference to the material of the body
*/
inline Material& RigidBody::getMaterial() {
return mMaterial;
}
}
#endif

6
src/collision/Collider.cpp
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@ -41,6 +41,8 @@ using namespace reactphysics3d;
*/
Collider::Collider(Entity entity, CollisionBody* body, MemoryManager& memoryManager)
:mMemoryManager(memoryManager), mEntity(entity), mBody(body),
mMaterial(body->mWorld.mConfig.defaultFrictionCoefficient, body->mWorld.mConfig.defaultRollingRestistance,
body->mWorld.mConfig.defaultBounciness),
mUserData(nullptr) {
}
@ -106,7 +108,7 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
int broadPhaseId = mBody->mWorld.mCollidersComponents.getBroadPhaseId(mEntity);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
"Collider" " + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
"Collider" + std::to_string(broadPhaseId) + ": Set collideWithMaskBits=" +
std::to_string(collideWithMaskBits));
}
@ -127,7 +129,7 @@ void Collider::setLocalToBodyTransform(const Transform& transform) {
mBody->mWorld.mCollisionDetection.updateCollider(mEntity, 0);
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(broadPhaseId) + ": Set localToBodyTransform=" +
"Collider " + std::to_string(getBroadPhaseId()) + ": Set localToBodyTransform=" +
transform.to_string());
}

46
src/collision/Collider.h
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@ -29,6 +29,8 @@
// Libraries
#include "body/CollisionBody.h"
#include "collision/shapes/CollisionShape.h"
#include "engine/Material.h"
#include "utils/Logger.h"
namespace reactphysics3d {
@ -37,13 +39,10 @@ class MemoryManager;
// Class Collider
/**
* The CollisionShape instances are supposed to be unique for memory optimization. For instance,
* consider two rigid bodies with the same sphere collision shape. In this situation, we will have
* a unique instance of SphereShape but we need to differentiate between the two instances during
* the collision detection. They do not have the same position in the world and they do not
* belong to the same rigid body. The Collider class is used for that purpose by attaching a
* rigid body with one of its collision shape. A body can have multiple colliders (one for
* each collision shape attached to the body).
* A collider has a collision shape (box, sphere, capsule, ...) and is attached to a CollisionBody or
* RigidBody. A body can have multiple colliders. The collider also have a mass value and a Material
* with many physics parameters like friction or bounciness. When you create a body, you need to attach
* at least one collider to it if you want that body to be able to collide in the physics world.
*/
class Collider {
@ -60,6 +59,9 @@ class Collider {
/// Pointer to the parent body
CollisionBody* mBody;
/// Material properties of the rigid body
Material mMaterial;
/// Pointer to user data
void* mUserData;
@ -151,6 +153,12 @@ class Collider {
/// Return the broad-phase id
int getBroadPhaseId() const;
/// Return a reference to the material properties of the collider
Material& getMaterial();
/// Set a new material for this collider
void setMaterial(const Material& material);
#ifdef IS_PROFILING_ACTIVE
/// Set the profiler
@ -221,6 +229,30 @@ inline bool Collider::testAABBOverlap(const AABB& worldAABB) const {
return worldAABB.testCollision(getWorldAABB());
}
// Return a reference to the material properties of the collider
/**
* @return A reference to the material of the body
*/
inline Material& Collider::getMaterial() {
return mMaterial;
}
// Set a new material for this rigid body
/**
* @param material The material you want to set to the body
*/
inline void Collider::setMaterial(const Material& material) {
mMaterial = material;
#ifdef IS_LOGGING_ACTIVE
RP3D_LOG(mLogger, Logger::Level::Information, Logger::Category::Collider,
"Collider " + std::to_string(mEntity.id) + ": Set Material" + mMaterial.to_string());
#endif
}
#ifdef IS_LOGGING_ACTIVE
// Set the logger

2
src/engine/Material.h
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@ -94,7 +94,7 @@ class Material {
// ---------- Friendship ---------- //
friend class RigidBody;
friend class Collider;
};
// Return the bounciness

88
src/engine/PhysicsCommon.cpp
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@ -35,7 +35,8 @@ PhysicsCommon::PhysicsCommon(MemoryAllocator* baseMemoryAllocator)
mBoxShapes(mMemoryManager.getHeapAllocator()), mCapsuleShapes(mMemoryManager.getHeapAllocator()),
mConvexMeshShapes(mMemoryManager.getHeapAllocator()), mConcaveMeshShapes(mMemoryManager.getHeapAllocator()),
mHeightFieldShapes(mMemoryManager.getHeapAllocator()), mPolyhedronMeshes(mMemoryManager.getHeapAllocator()),
mTriangleMeshes(mMemoryManager.getHeapAllocator()) {
mTriangleMeshes(mMemoryManager.getHeapAllocator()), mLoggers(mMemoryManager.getHeapAllocator()),
mProfilers(mMemoryManager.getHeapAllocator()) {
}
@ -93,11 +94,49 @@ void PhysicsCommon::release() {
for (auto it = mTriangleMeshes.begin(); it != mTriangleMeshes.end(); ++it) {
destroyTriangleMesh(*it);
}
// Destroy the loggers
for (auto it = mLoggers.begin(); it != mLoggers.end(); ++it) {
destroyLogger(*it);
}
// Destroy the profilers
for (auto it = mProfilers.begin(); it != mProfilers.end(); ++it) {
destroyProfiler(*it);
}
}
// Create and return an instance of PhysicsWorld
PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings, Logger* logger, Profiler* profiler) {
#ifdef IS_PROFILING_ACTIVE
// If the user has not provided its own profiler, we create one
if (profiler == nullptr) {
profiler = createProfiler();
// Add a destination file for the profiling data
profiler->addFileDestination("rp3d_profiling_" + worldSettings.worldName + ".txt", Profiler::Format::Text);
}
#endif
#ifdef IS_LOGGING_ACTIVE
// If the user has not provided its own logger, we create one
if (logger == nullptr) {
logger = createLogger();
// Add a log destination file
uint logLevel = static_cast<uint>(Logger::Level::Information) | static_cast<uint>(Logger::Level::Warning) |
static_cast<uint>(Logger::Level::Error);
logger->addFileDestination("rp3d_log_" + worldSettings.worldName + ".html", logLevel, Logger::Format::HTML);
}
#endif
PhysicsWorld* world = new(mMemoryManager.allocate(MemoryManager::AllocationType::Heap, sizeof(PhysicsWorld))) PhysicsWorld(mMemoryManager, worldSettings, logger, profiler);
mPhysicsWorlds.add(world);
@ -106,7 +145,7 @@ PhysicsWorld* PhysicsCommon::createPhysicsWorld(const PhysicsWorld::WorldSetting
}
// Destroy an instance of PhysicsWorld
PhysicsWorld* PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
void PhysicsCommon::destroyPhysicsWorld(PhysicsWorld* world) {
// Call the destructor of the world
world->~PhysicsWorld();
@ -294,3 +333,48 @@ void PhysicsCommon::destroyTriangleMesh(TriangleMesh* triangleMesh) {
mTriangleMeshes.remove(triangleMesh);
}
// Create and return a new logger
Logger* PhysicsCommon::createLogger() {
Logger* logger = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Logger))) Logger(mMemoryManager.getHeapAllocator());
mLoggers.add(logger);
return logger;
}
// Destroy a logger
void PhysicsCommon::destroyLogger(Logger* logger) {
// Call the destructor of the logger
logger->~Logger();
// Release allocated memory
mMemoryManager.release(MemoryManager::AllocationType::Pool, logger, sizeof(Logger));
mLoggers.remove(logger);
}
// Create and return a new profiler
/// Note that you need to use a different profiler for each PhysicsWorld.
Profiler* PhysicsCommon::createProfiler() {
Profiler* profiler = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool, sizeof(Profiler))) Profiler();
mProfilers.add(profiler);
return profiler;
}
// Destroy a profiler
void PhysicsCommon::destroyProfiler(Profiler* profiler) {
// Call the destructor of the profiler
profiler->~Profiler();
// Release allocated memory
mMemoryManager.release(MemoryManager::AllocationType::Pool, profiler, sizeof(Profiler));
mProfilers.remove(profiler);
}

25
src/engine/PhysicsCommon.h
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@ -82,6 +82,12 @@ class PhysicsCommon {
/// Set of triangle meshes
Set<TriangleMesh*> mTriangleMeshes;
/// Set of loggers
Set<Logger*> mLoggers;
/// Set of loggers
Set<Profiler*> mProfilers;
// -------------------- Methods -------------------- //
/// Destroy and release everything that has been allocated
@ -100,12 +106,15 @@ class PhysicsCommon {
/// Destructor
~PhysicsCommon();
// TODO : Add better code documentation for all methods in this class (document
// the method parameters with the "@param" keyword for Doxygen
/// Create and return an instance of PhysicsWorld
PhysicsWorld* createPhysicsWorld(const PhysicsWorld::WorldSettings& worldSettings = PhysicsWorld::WorldSettings(),
Logger* logger = nullptr, Profiler* profiler = nullptr);
Logger* logger = nullptr, Profiler* profiler = nullptr);
/// Destroy an instance of PhysicsWorld
PhysicsWorld* destroyPhysicsWorld(PhysicsWorld* world);
void destroyPhysicsWorld(PhysicsWorld* world);
/// Create and return a sphere collision shape
SphereShape* createSphereShape(const decimal radius);
@ -157,6 +166,18 @@ class PhysicsCommon {
/// Destroy a triangle mesh
void destroyTriangleMesh(TriangleMesh* triangleMesh);
/// Create and return a new logger
Logger* createLogger();
/// Destroy a logger
void destroyLogger(Logger* logger);
/// Create and return a new profiler
Profiler* createProfiler();
/// Destroy a profiler
void destroyProfiler(Profiler* profiler);
};
}

40
src/engine/PhysicsWorld.cpp
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@ -59,8 +59,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents,
mMemoryManager),
mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
mName(worldSettings.worldName), mIsProfilerCreatedByUser(profiler != nullptr),
mIsLoggerCreatedByUser(logger != nullptr), mIslands(mMemoryManager.getSingleFrameAllocator()),
mName(worldSettings.worldName), mIslands(mMemoryManager.getSingleFrameAllocator()),
mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents,
mCollidersComponents, mConfig.restitutionVelocityThreshold),
mConstraintSolverSystem(*this, mIslands, mRigidBodyComponents, mTransformComponents, mJointsComponents,
@ -88,18 +87,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
#ifdef IS_PROFILING_ACTIVE
assert(profiler != nullptr);
mProfiler = profiler;
// If the user has not provided its own profiler, we create one
if (mProfiler == nullptr) {
mProfiler = new Profiler();
// Add a destination file for the profiling data
mProfiler->addFileDestination("rp3d_profiling_" + mName + ".txt", Profiler::Format::Text);
}
// Set the profiler
mConstraintSolverSystem.setProfiler(mProfiler);
mContactSolverSystem.setProfiler(mProfiler);
@ -110,19 +100,9 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
#ifdef IS_LOGGING_ACTIVE
assert(logger != nullptr);
mLogger = logger;
// If the user has not provided its own logger, we create one
if (mLogger == nullptr) {
mLogger = new Logger();
// Add a log destination file
uint logLevel = static_cast<uint>(Logger::Level::Information) | static_cast<uint>(Logger::Level::Warning) |
static_cast<uint>(Logger::Level::Error);
mLogger->addFileDestination("rp3d_log_" + mName + ".html", logLevel, Logger::Format::HTML);
}
#endif
mNbWorlds++;
@ -150,23 +130,9 @@ PhysicsWorld::~PhysicsWorld() {
#ifdef IS_PROFILING_ACTIVE
/// Delete the profiler
if (!mIsProfilerCreatedByUser) {
delete mProfiler;
}
// Print the profiling report into the destinations
mProfiler->printReport();
#endif
#ifdef IS_LOGGING_ACTIVE
/// Delete the logger
if (!mIsLoggerCreatedByUser) {
delete mLogger;
}
#endif
assert(mBodies.size() == 0);

6
src/engine/PhysicsWorld.h
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@ -234,12 +234,6 @@ class PhysicsWorld {
Logger* mLogger;
#endif
/// True if the profiler has been created by the user
bool mIsProfilerCreatedByUser;
/// True if the logger has been created by the user
bool mIsLoggerCreatedByUser;
/// Total number of worlds
static uint mNbWorlds;

7
src/memory/HeapAllocator.cpp
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@ -36,8 +36,11 @@ size_t HeapAllocator::INIT_ALLOCATED_SIZE = 5 * 1048576; // 5 Mb
// Constructor
HeapAllocator::HeapAllocator(MemoryAllocator& baseAllocator, size_t initAllocatedMemory)
: mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr),
mNbTimesAllocateMethodCalled(0) {
: mBaseAllocator(baseAllocator), mAllocatedMemory(0), mMemoryUnits(nullptr), mCachedFreeUnit(nullptr) {
#ifndef NDEBUG
mNbTimesAllocateMethodCalled = 0;
#endif
reserve(initAllocatedMemory == 0 ? INIT_ALLOCATED_SIZE : initAllocatedMemory);
}

33
src/systems/ContactSolverSystem.cpp
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@ -30,6 +30,7 @@
#include "constraint/ContactPoint.h"
#include "utils/Profiler.h"
#include "engine/Island.h"
#include "collision/Collider.h"
#include "components/CollisionBodyComponents.h"
#include "components/ColliderComponents.h"
#include "collision/ContactManifold.h"
@ -134,6 +135,9 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
const uint rigidBodyIndex1 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity1);
const uint rigidBodyIndex2 = mRigidBodyComponents.getEntityIndex(externalManifold.bodyEntity2);
Collider* collider1 = mColliderComponents.getCollider(externalManifold.colliderEntity1);
Collider* collider2 = mColliderComponents.getCollider(externalManifold.colliderEntity2);
// Get the position of the two bodies
const Vector3& x1 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex1];
const Vector3& x2 = mRigidBodyComponents.mCentersOfMassWorld[rigidBodyIndex2];
@ -147,8 +151,8 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
mContactConstraints[mNbContactManifolds].massInverseBody1 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex1];
mContactConstraints[mNbContactManifolds].massInverseBody2 = mRigidBodyComponents.mInverseMasses[rigidBodyIndex2];
mContactConstraints[mNbContactManifolds].nbContacts = externalManifold.nbContactPoints;
mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(body1, body2);
mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(body1, body2);
mContactConstraints[mNbContactManifolds].frictionCoefficient = computeMixedFrictionCoefficient(collider1, collider2);
mContactConstraints[mNbContactManifolds].rollingResistanceFactor = computeMixedRollingResistance(collider1, collider2);
mContactConstraints[mNbContactManifolds].externalContactManifold = &externalManifold;
mContactConstraints[mNbContactManifolds].normal.setToZero();
mContactConstraints[mNbContactManifolds].frictionPointBody1.setToZero();
@ -236,7 +240,7 @@ void ContactSolverSystem::initializeForIsland(uint islandIndex) {
decimal deltaVDotN = deltaV.x * mContactPoints[mNbContactPoints].normal.x +
deltaV.y * mContactPoints[mNbContactPoints].normal.y +
deltaV.z * mContactPoints[mNbContactPoints].normal.z;
const decimal restitutionFactor = computeMixedRestitutionFactor(body1, body2);
const decimal restitutionFactor = computeMixedRestitutionFactor(collider1, collider2);
if (deltaVDotN < -mRestitutionVelocityThreshold) {
mContactPoints[mNbContactPoints].restitutionBias = restitutionFactor * deltaVDotN;
}
@ -769,25 +773,26 @@ void ContactSolverSystem::solve() {
}
}
// Compute the collision restitution factor from the restitution factor of each body
decimal ContactSolverSystem::computeMixedRestitutionFactor(RigidBody* body1, RigidBody* body2) const {
decimal restitution1 = body1->getMaterial().getBounciness();
decimal restitution2 = body2->getMaterial().getBounciness();
// Compute the collision restitution factor from the restitution factor of each collider
decimal ContactSolverSystem::computeMixedRestitutionFactor(Collider* collider1, Collider* collider2) const {
decimal restitution1 = collider1->getMaterial().getBounciness();
decimal restitution2 = collider2->getMaterial().getBounciness();
// Return the largest restitution factor
return (restitution1 > restitution2) ? restitution1 : restitution2;
}
// Compute the mixed friction coefficient from the friction coefficient of each body
decimal ContactSolverSystem::computeMixedFrictionCoefficient(RigidBody* body1, RigidBody* body2) const {
// Compute the mixed friction coefficient from the friction coefficient of each collider
decimal ContactSolverSystem::computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const {
// Use the geometric mean to compute the mixed friction coefficient
return std::sqrt(body1->getMaterial().getFrictionCoefficient() *
body2->getMaterial().getFrictionCoefficient());
return std::sqrt(collider1->getMaterial().getFrictionCoefficient() *
collider2->getMaterial().getFrictionCoefficient());
}
// Compute th mixed rolling resistance factor between two bodies
inline decimal ContactSolverSystem::computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const {
return decimal(0.5f) * (body1->getMaterial().getRollingResistance() + body2->getMaterial().getRollingResistance());
// Compute th mixed rolling resistance factor between two colliders
inline decimal ContactSolverSystem::computeMixedRollingResistance(Collider* collider1, Collider* collider2) const {
return decimal(0.5f) * (collider1->getMaterial().getRollingResistance() + collider2->getMaterial().getRollingResistance());
}
// Store the computed impulses to use them to

16
src/systems/ContactSolverSystem.h
View File

@ -43,6 +43,7 @@ class Profiler;
class Island;
struct Islands;
class RigidBody;
class Collider;
class PhysicsWorld;
class CollisionBodyComponents;
class DynamicsComponents;
@ -338,16 +339,15 @@ class ContactSolverSystem {
// -------------------- Methods -------------------- //
/// Compute the collision restitution factor from the restitution factor of each body
decimal computeMixedRestitutionFactor(RigidBody* body1,
RigidBody* body2) const;
/// Compute the collision restitution factor from the restitution factor of each collider
decimal computeMixedRestitutionFactor(Collider* collider1,
Collider* collider2) const;
/// Compute the mixed friction coefficient from the friction coefficient of each body
decimal computeMixedFrictionCoefficient(RigidBody* body1,
RigidBody* body2) const;
/// Compute the mixed friction coefficient from the friction coefficient of each collider
decimal computeMixedFrictionCoefficient(Collider* collider1, Collider* collider2) const;
/// Compute th mixed rolling resistance factor between two bodies
decimal computeMixedRollingResistance(RigidBody* body1, RigidBody* body2) const;
/// Compute th mixed rolling resistance factor between two colliders
decimal computeMixedRollingResistance(Collider* collider1, Collider* collider2) const;
/// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction
/// plane for a contact manifold. The two vectors have to be

18
src/utils/Logger.cpp
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@ -32,10 +32,9 @@
using namespace reactphysics3d;
// Constructor
Logger::Logger()
: mDestinations(MemoryManager::getBaseAllocator()), mFormatters(MemoryManager::getBaseAllocator())
Logger::Logger(MemoryAllocator& allocator)
: mAllocator(allocator), mDestinations(allocator), mFormatters(allocator)
{
// Create the log formatters
mFormatters.add(Pair<Format, Formatter*>(Format::Text, new TextFormatter()));
mFormatters.add(Pair<Format, Formatter*>(Format::HTML, new HtmlFormatter()));
@ -46,7 +45,7 @@ Logger::~Logger() {
removeAllDestinations();
// Remove all the loggers
// Remove all the formatters
for (auto it = mFormatters.begin(); it != mFormatters.end(); ++it) {
delete it->second;
@ -67,14 +66,14 @@ Logger::Formatter* Logger::getFormatter(Format format) const {
// Add a log file destination to the logger
void Logger::addFileDestination(const std::string& filePath, uint logLevelFlag, Format format) {
FileDestination* destination = new FileDestination(filePath, logLevelFlag, getFormatter(format));
FileDestination* destination = new (mAllocator.allocate(sizeof(FileDestination))) FileDestination(filePath, logLevelFlag, getFormatter(format));
mDestinations.add(destination);
}
/// Add a stream destination to the logger
void Logger::addStreamDestination(std::ostream& outputStream, uint logLevelFlag, Format format) {
StreamDestination* destination = new StreamDestination(outputStream, logLevelFlag, getFormatter(format));
StreamDestination* destination = new (mAllocator.allocate(sizeof(StreamDestination))) StreamDestination(outputStream, logLevelFlag, getFormatter(format));
mDestinations.add(destination);
}
@ -83,7 +82,12 @@ void Logger::removeAllDestinations() {
// Delete all the destinations
for (uint i=0; i<mDestinations.size(); i++) {
delete mDestinations[i];
size_t size = mDestinations[i]->getSizeBytes();
mDestinations[i]->~Destination();
mAllocator.release(mDestinations[i], size);
}
mDestinations.clear();

30
src/utils/Logger.h
View File

@ -343,6 +343,9 @@ class Logger {
/// Write a message into the output stream
virtual void write(const time_t& time, const std::string& message, Level level, Category category) = 0;
/// Return the size in bytes of the type
virtual size_t getSizeBytes() const=0;
};
class FileDestination : public Destination {
@ -386,6 +389,11 @@ class Logger {
virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
mFileStream << formatter->format(time, message, level, category) << std::endl << std::flush;
}
/// Return the size in bytes of the type
virtual size_t getSizeBytes() const override {
return sizeof(FileDestination);
}
};
/// Stream destination to output the logs into a stream
@ -417,6 +425,11 @@ class Logger {
virtual void write(const time_t& time, const std::string& message, Level level, Category category) override {
mOutputStream << formatter->format(time, message, level, category) << std::endl << std::flush;
}
/// Return the size in bytes of the type
virtual size_t getSizeBytes() const override {
return sizeof(StreamDestination);
}
};
@ -424,6 +437,9 @@ class Logger {
// -------------------- Attributes -------------------- //
/// Memory allocator
MemoryAllocator& mAllocator;
/// All the log destinations
List<Destination*> mDestinations;
@ -438,16 +454,16 @@ class Logger {
/// Return the corresponding formatter
Formatter* getFormatter(Format format) const;
public :
// -------------------- Methods -------------------- //
/// Constructor
Logger();
Logger(MemoryAllocator& allocator);
/// Destructor
~Logger();
public :
// -------------------- Methods -------------------- //
/// Add a file destination to the logger
void addFileDestination(const std::string& filePath, uint logLevelFlag, Format format);
@ -459,6 +475,10 @@ class Logger {
/// Log something
void log(Level level, Category category, const std::string& message);
// ---------- Friendship ---------- //
friend class PhysicsCommon;
};
}

15
src/utils/Profiler.h
View File

@ -310,16 +310,16 @@ class Profiler {
/// Destroy the profiler (release the memory)
void destroy();
/// Constructor
Profiler();
/// Destructor
~Profiler();
public :
// -------------------- Methods -------------------- //
/// Constructor
Profiler();
/// Destructor
~Profiler();
/// Method called when we want to start profiling a block of code.
void startProfilingBlock(const char *name);
@ -356,6 +356,9 @@ class Profiler {
/// Print the report of the profiler in every output destinations
void printReport();
// ---------- Friendship ---------- //
friend class PhysicsCommon;
};
// Class ProfileSample

28
test/tests/collision/TestDynamicAABBTree.h
View File

@ -125,12 +125,6 @@ class TestDynamicAABBTree : public Test {
// Dynamic AABB Tree
DynamicAABBTree tree(mAllocator);
#ifdef IS_PROFILING_ACTIVE
/// Pointer to the profiler
Profiler* profiler = new Profiler();
tree.setProfiler(profiler);
#endif
int object1Data = 56;
int object2Data = 23;
int object3Data = 13;
@ -168,10 +162,6 @@ class TestDynamicAABBTree : public Test {
rp3d_test(*(int*)(tree.getNodeDataPointer(object2Id)) == object2Data);
rp3d_test(*(int*)(tree.getNodeDataPointer(object3Id)) == object3Data);
rp3d_test(*(int*)(tree.getNodeDataPointer(object4Id)) == object4Data);
#ifdef IS_PROFILING_ACTIVE
delete profiler;
#endif
}
void testOverlapping() {
@ -181,12 +171,6 @@ class TestDynamicAABBTree : public Test {
// Dynamic AABB Tree
DynamicAABBTree tree(mAllocator);
#ifdef IS_PROFILING_ACTIVE
/// Pointer to the profiler
Profiler* profiler = new Profiler();
tree.setProfiler(profiler);
#endif
int object1Data = 56;
int object2Data = 23;
int object3Data = 13;
@ -370,9 +354,6 @@ class TestDynamicAABBTree : public Test {
rp3d_test(!isOverlapping(object3Id, overlappingNodes));
rp3d_test(!isOverlapping(object4Id, overlappingNodes));
#ifdef IS_PROFILING_ACTIVE
delete profiler;
#endif
}
void testRaycast() {
@ -382,12 +363,6 @@ class TestDynamicAABBTree : public Test {
// Dynamic AABB Tree
DynamicAABBTree tree(mAllocator);
#ifdef IS_PROFILING_ACTIVE
/// Pointer to the profiler
Profiler* profiler = new Profiler();
tree.setProfiler(profiler);
#endif
int object1Data = 56;
int object2Data = 23;
int object3Data = 13;
@ -551,9 +526,6 @@ class TestDynamicAABBTree : public Test {
rp3d_test(mRaycastCallback.isHit(object3Id));
rp3d_test(mRaycastCallback.isHit(object4Id));
#ifdef IS_PROFILING_ACTIVE
delete profiler;
#endif
}
};

10
testbed/common/Box.h
View File

@ -82,13 +82,16 @@ class Box : public PhysicsObject {
Box(const openglframework::Vector3& size, float mass, reactphysics3d::PhysicsCommon& physicsCommon, reactphysics3d::PhysicsWorld *world, const std::string& meshFolderPath);
/// Destructor
~Box();
virtual ~Box() override;
/// Render the cube at the correct position and with the correct orientation
virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -96,5 +99,10 @@ inline void Box::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* Box::getCollider() {
return mCollider;
}
#endif

13
testbed/common/Capsule.h
View File

@ -51,9 +51,6 @@ class Capsule : public PhysicsObject {
rp3d::CapsuleShape* mCapsuleShape;
rp3d::Collider* mCollider;
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
/// Vertex Buffer Object for the vertices data
static openglframework::VertexBufferObject mVBOVertices;
@ -86,13 +83,16 @@ class Capsule : public PhysicsObject {
const std::string& meshFolderPath);
/// Destructor
~Capsule();
virtual ~Capsule() override;
/// Render the sphere at the correct position and with the correct orientation
virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -100,4 +100,9 @@ inline void Capsule::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* Capsule::getCollider() {
return mCollider;
}
#endif

14
testbed/common/ConcaveMesh.h
View File

@ -38,9 +38,6 @@ class ConcaveMesh : public PhysicsObject {
// -------------------- Attributes -------------------- //
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
/// Collision shape
rp3d::ConcaveMeshShape* mConcaveShape;
rp3d::Collider* mCollider;
@ -82,7 +79,7 @@ class ConcaveMesh : public PhysicsObject {
ConcaveMesh(float mass, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
/// Destructor
~ConcaveMesh();
virtual ~ConcaveMesh() override;
/// Render the mesh at the correct position and with the correct orientation
void render(openglframework::Shader& shader,
@ -90,6 +87,10 @@ class ConcaveMesh : public PhysicsObject {
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -97,4 +98,9 @@ inline void ConcaveMesh::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* ConcaveMesh::getCollider() {
return mCollider;
}
#endif

13
testbed/common/ConvexMesh.h
View File

@ -38,9 +38,6 @@ class ConvexMesh : public PhysicsObject {
// -------------------- Attributes -------------------- //
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
rp3d::PolygonVertexArray::PolygonFace* mPolygonFaces;
rp3d::PolygonVertexArray* mPolygonVertexArray;
@ -95,13 +92,16 @@ class ConvexMesh : public PhysicsObject {
ConvexMesh(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath);
/// Destructor
~ConvexMesh();
virtual ~ConvexMesh() override;
/// Render the mesh at the correct position and with the correct orientation
virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -109,4 +109,9 @@ inline void ConvexMesh::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* ConvexMesh::getCollider() {
return mCollider;
}
#endif

29
testbed/common/Dumbbell.h
View File

@ -51,9 +51,6 @@ class Dumbbell : public PhysicsObject {
/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
openglframework::Matrix4 mScalingMatrix;
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
/// Vertex Buffer Object for the vertices data
static openglframework::VertexBufferObject mVBOVertices;
@ -86,13 +83,22 @@ class Dumbbell : public PhysicsObject {
const std::string& meshFolderPath);
/// Destructor
~Dumbbell();
virtual ~Dumbbell() override;
/// Render the sphere at the correct position and with the correct orientation
virtual void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) override;
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the capsule collider
rp3d::Collider* getCapsuleCollider();
/// Return the first sphere collider
rp3d::Collider* getSphere1Collider();
/// Return the second sphere collider
rp3d::Collider* getSphere2Collider();
};
// Update the transform matrix of the object
@ -100,4 +106,19 @@ inline void Dumbbell::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the capsule collider
inline rp3d::Collider* Dumbbell::getCapsuleCollider() {
return mColliderCapsule;
}
// Return the first sphere collider
inline rp3d::Collider* Dumbbell::getSphere1Collider() {
return mColliderSphere1;
}
// Return the second sphere collider
inline rp3d::Collider* Dumbbell::getSphere2Collider() {
return mColliderSphere2;
}
#endif

13
testbed/common/HeightField.h
View File

@ -45,9 +45,6 @@ class HeightField : public PhysicsObject {
/// Height field data
float mHeightData[NB_POINTS_WIDTH * NB_POINTS_LENGTH];
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
/// Collision shape
rp3d::HeightFieldShape* mHeightFieldShape;
rp3d::Collider* mCollider;
@ -95,7 +92,7 @@ class HeightField : public PhysicsObject {
HeightField(float mass, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld);
/// Destructor
~HeightField();
virtual ~HeightField() override;
/// Render the mesh at the correct position and with the correct orientation
void render(openglframework::Shader& shader,
@ -103,6 +100,9 @@ class HeightField : public PhysicsObject {
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -110,4 +110,9 @@ inline void HeightField::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* HeightField::getCollider() {
return mCollider;
}
#endif

11
testbed/common/Sphere.h
View File

@ -48,9 +48,6 @@ class Sphere : public PhysicsObject {
/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
openglframework::Matrix4 mScalingMatrix;
/// Previous transform (for interpolation)
rp3d::Transform mPreviousTransform;
/// Vertex Buffer Object for the vertices data
static openglframework::VertexBufferObject mVBOVertices;
@ -92,6 +89,9 @@ class Sphere : public PhysicsObject {
/// Update the transform matrix of the object
virtual void updateTransform(float interpolationFactor) override;
/// Return the collider
rp3d::Collider* getCollider();
};
// Update the transform matrix of the object
@ -99,4 +99,9 @@ inline void Sphere::updateTransform(float interpolationFactor) {
mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}
// Return the collider
inline rp3d::Collider* Sphere::getCollider() {
return mCollider;
}
#endif

22
testbed/scenes/collisionshapes/CollisionShapesScene.cpp
View File

@ -63,8 +63,12 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
dumbbell->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
capsuleMaterial.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
sphere1Material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
sphere2Material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
@ -82,7 +86,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->getMaterial();
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -97,14 +101,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Add some rolling resistance
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
// Set the box color
sphere->setColor(mObjectColorDemo);
sphere->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
rp3d::Material& material = sphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -119,14 +123,14 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
mPhysicsCommon, mPhysicsWorld, meshFolderPath);
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
// Set the box color
capsule->setColor(mObjectColorDemo);
capsule->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
rp3d::Material& material = capsule->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
@ -145,7 +149,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
mesh->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
rp3d::Material& material = mesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
@ -166,7 +170,7 @@ CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettin
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
rp3d::Material& material = mFloor->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Get the physics engine parameters

22
testbed/scenes/concavemesh/ConcaveMeshScene.cpp
View File

@ -64,8 +64,12 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
dumbbell->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
capsuleMaterial.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
sphere1Material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
sphere2Material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
@ -83,7 +87,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->getMaterial();
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -98,14 +102,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Add some rolling resistance
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
// Set the box color
sphere->setColor(mObjectColorDemo);
sphere->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
rp3d::Material& material = sphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -120,14 +124,14 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
mPhysicsCommon, mPhysicsWorld, meshFolderPath);
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
// Set the box color
capsule->setColor(mObjectColorDemo);
capsule->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
rp3d::Material& material = capsule->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
@ -146,7 +150,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
mesh->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
rp3d::Material& material = mesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
@ -172,7 +176,7 @@ ConcaveMeshScene::ConcaveMeshScene(const std::string& name, EngineSettings& sett
mPhysicsObjects.push_back(mConcaveMesh);
// Change the material properties of the rigid body
rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
rp3d::Material& material = mConcaveMesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
material.setFrictionCoefficient(rp3d::decimal(0.1));

2
testbed/scenes/cubes/CubesScene.cpp
View File

@ -62,7 +62,7 @@ CubesScene::CubesScene(const std::string& name, EngineSettings& settings)
cube->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = cube->getRigidBody()->getMaterial();
rp3d::Material& material = cube->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
// Add the box the list of box in the scene

2
testbed/scenes/cubestack/CubeStackScene.cpp
View File

@ -64,7 +64,7 @@ CubeStackScene::CubeStackScene(const std::string& name, EngineSettings& settings
cube->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = cube->getRigidBody()->getMaterial();
rp3d::Material& material = cube->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
// Add the box the list of box in the scene

22
testbed/scenes/heightfield/HeightFieldScene.cpp
View File

@ -63,8 +63,12 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
dumbbell->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
capsuleMaterial.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
sphere1Material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
sphere2Material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
@ -82,7 +86,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->getMaterial();
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -97,14 +101,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Add some rolling resistance
sphere->getRigidBody()->getMaterial().setRollingResistance(0.08f);
sphere->getCollider()->getMaterial().setRollingResistance(0.08f);
// Set the box color
sphere->setColor(mObjectColorDemo);
sphere->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
rp3d::Material& material = sphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -119,14 +123,14 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
mPhysicsCommon, mPhysicsWorld, meshFolderPath);
capsule->getRigidBody()->getMaterial().setRollingResistance(0.08f);
capsule->getCollider()->getMaterial().setRollingResistance(0.08f);
// Set the box color
capsule->setColor(mObjectColorDemo);
capsule->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
rp3d::Material& material = capsule->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
@ -145,7 +149,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
mesh->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
rp3d::Material& material = mesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
@ -171,7 +175,7 @@ HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& sett
mHeightField->setSleepingColor(mFloorColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mHeightField->getRigidBody()->getMaterial();
rp3d::Material& material = mHeightField->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
material.setFrictionCoefficient(0.1f);

14
testbed/scenes/joints/JointsScene.cpp
View File

@ -230,7 +230,7 @@ void JointsScene::createBallAndSocketJoints() {
mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(rp3d::decimal(0.2));
// Change the material properties of the rigid body
rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
mPhysicsObjects.push_back(mBallAndSocketJointChainBoxes[i]);
@ -277,7 +277,7 @@ void JointsScene::createSliderJoint() {
mSliderJointBottomBox->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
rp3d::Material& material1 = mSliderJointBottomBox->getCollider()->getMaterial();
material1.setBounciness(0.4f);
mPhysicsObjects.push_back(mSliderJointBottomBox);
@ -296,7 +296,7 @@ void JointsScene::createSliderJoint() {
mSliderJointTopBox->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
rp3d::Material& material2 = mSliderJointTopBox->getCollider()->getMaterial();
material2.setBounciness(0.4f);
mPhysicsObjects.push_back(mSliderJointTopBox);
@ -338,7 +338,7 @@ void JointsScene::createPropellerHingeJoint() {
mPropellerBox->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
rp3d::Material& material = mPropellerBox->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
mPhysicsObjects.push_back(mPropellerBox);
@ -379,7 +379,7 @@ void JointsScene::createFixedJoints() {
mFixedJointBox1->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
rp3d::Material& material1 = mFixedJointBox1->getCollider()->getMaterial();
material1.setBounciness(rp3d::decimal(0.4));
mPhysicsObjects.push_back(mFixedJointBox1);
@ -397,7 +397,7 @@ void JointsScene::createFixedJoints() {
mFixedJointBox2->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
rp3d::Material& material2 = mFixedJointBox2->getCollider()->getMaterial();
material2.setBounciness(rp3d::decimal(0.4));
mPhysicsObjects.push_back(mFixedJointBox2);
@ -440,7 +440,7 @@ void JointsScene::createFloor() {
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
rp3d::Material& material = mFloor->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.3));
mPhysicsObjects.push_back(mFloor);
}

22
testbed/scenes/pile/PileScene.cpp
View File

@ -61,8 +61,12 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
dumbbell->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
capsuleMaterial.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
sphere1Material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
sphere2Material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
@ -80,7 +84,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->getMaterial();
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -95,14 +99,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Add some rolling resistance
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
sphere->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
// Set the box color
sphere->setColor(mObjectColorDemo);
sphere->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
rp3d::Material& material = sphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
@ -117,14 +121,14 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
mPhysicsCommon, mPhysicsWorld, meshFolderPath);
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
capsule->getCollider()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
// Set the box color
capsule->setColor(mObjectColorDemo);
capsule->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
rp3d::Material& material = capsule->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
@ -143,7 +147,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
mesh->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
rp3d::Material& material = mesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
@ -169,7 +173,7 @@ PileScene::PileScene(const std::string& name, EngineSettings& settings)
mPhysicsObjects.push_back(mSandbox);
// Change the material properties of the rigid body
rp3d::Material& material = mSandbox->getRigidBody()->getMaterial();
rp3d::Material& material = mSandbox->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
material.setFrictionCoefficient(rp3d::decimal(0.1));