Modify the joints example
This commit is contained in:
Daniel Chappuis
parent
ce0078c2a9
commit
d265a52b67
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@ -25,6 +25,7 @@
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// Libraries
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#include "Scene.h"
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#include <cmath>
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// Namespaces
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using namespace openglframework;
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@ -62,6 +63,12 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
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// Create the Slider joint
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createSliderJoint();
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// Create the Hinge joint
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createPropellerHingeJoint();
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// Create the Fixed joint
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createFixedJoints();
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// Create the floor
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createFloor();
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@ -79,18 +86,32 @@ Scene::~Scene() {
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mPhongShader.destroy();
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// Destroy the joints
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mDynamicsWorld->destroyJoint(mBallAndSocketJoint);
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mDynamicsWorld->destroyJoint(mSliderJoint);
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mDynamicsWorld->destroyJoint(mPropellerHingeJoint);
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mDynamicsWorld->destroyJoint(mFixedJoint1);
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mDynamicsWorld->destroyJoint(mFixedJoint2);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
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mDynamicsWorld->destroyJoint(mBallAndSocketJoints[i]);
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}
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// Destroy all the boxes of the scene
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mDynamicsWorld->destroyRigidBody(mBallAndSocketJointBox1->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mBallAndSocketJointBox2->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mSliderJointBox1->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mSliderJointBox2->getRigidBody());
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delete mBallAndSocketJointBox1;
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delete mBallAndSocketJointBox2;
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delete mSliderJointBox1;
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delete mSliderJointBox2;
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// Destroy all the rigid bodies of the scene
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mDynamicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mDynamicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
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}
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delete mSliderJointBottomBox;
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delete mSliderJointTopBox;
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delete mPropellerBox;
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delete mFixedJointBox1;
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delete mFixedJointBox2;
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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delete mBallAndSocketJointChainBoxes[i];
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}
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// Destroy the floor
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mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
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@ -106,14 +127,22 @@ void Scene::simulate() {
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// If the physics simulation is running
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if (mIsRunning) {
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// Update the motor speed of the Slider Joint (to move up and down)
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long double motorSpeed = 3 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
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mSliderJoint->setMotorSpeed(motorSpeed);
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// Take a simulation step
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mDynamicsWorld->update();
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// Update the position and orientation of the boxes
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mBallAndSocketJointBox1->updateTransform();
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mBallAndSocketJointBox2->updateTransform();
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mSliderJointBox1->updateTransform();
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mSliderJointBox2->updateTransform();
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mSliderJointBottomBox->updateTransform();
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mSliderJointTopBox->updateTransform();
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mPropellerBox->updateTransform();
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mFixedJointBox1->updateTransform();
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mFixedJointBox2->updateTransform();
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mBallAndSocketJointChainBoxes[i]->updateTransform();
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}
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// Update the position and orientation of the floor
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mFloor->updateTransform();
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@ -146,10 +175,14 @@ void Scene::render() {
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mPhongShader.setFloatUniform("shininess", 60.0f);
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// Render all the boxes
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mBallAndSocketJointBox1->render(mPhongShader);
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mBallAndSocketJointBox2->render(mPhongShader);
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mSliderJointBox1->render(mPhongShader);
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mSliderJointBox2->render(mPhongShader);
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mSliderJointBottomBox->render(mPhongShader);
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mSliderJointTopBox->render(mPhongShader);
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mPropellerBox->render(mPhongShader);
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mFixedJointBox1->render(mPhongShader);
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mFixedJointBox2->render(mPhongShader);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mBallAndSocketJointChainBoxes[i]->render(mPhongShader);
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}
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// Render the floor
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mFloor->render(mPhongShader);
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@ -161,46 +194,45 @@ void Scene::render() {
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// Create the boxes and joints for the Ball-and-Socket joint example
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void Scene::createBallAndSocketJoints() {
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// --------------- Create the first box --------------- //
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// --------------- Create the boxes --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(0, 15, 0);
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openglframework::Vector3 positionBox(0, 15, 5);
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openglframework::Vector3 boxDimension(1, 1, 1);
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const float boxMass = 0.5f;
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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// Create a box and a corresponding rigid in the dynamics world
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mBallAndSocketJointBox1 = new Box(BOX_SIZE, positionBox1 , BOX_MASS, mDynamicsWorld);
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mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, positionBox , boxMass,
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mDynamicsWorld);
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// The fist box cannot move
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mBallAndSocketJointBox1->getRigidBody()->setIsMotionEnabled(false);
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if (i == 0) mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(false);
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else mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mBallAndSocketJointBox1->getRigidBody()->setRestitution(0.4);
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mBallAndSocketJointChainBoxes[i]->getRigidBody()->setRestitution(0.4);
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// --------------- Create the second box --------------- //
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positionBox.y -= boxDimension.y + 0.5;
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}
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// Position of the box
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openglframework::Vector3 positionBox2(5, 10, 0);
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// --------------- Create the joints --------------- //
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// Create a box and a corresponding rigid in the dynamics world
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mBallAndSocketJointBox2 = new Box(BOX_SIZE, positionBox2 , BOX_MASS, mDynamicsWorld);
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// The second box is allowed to move
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mBallAndSocketJointBox2->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mBallAndSocketJointBox2->getRigidBody()->setRestitution(0.4);
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// --------------- Create the joint --------------- //
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
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// Create the joint info object
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rp3d::RigidBody* body1 = mBallAndSocketJointBox1->getRigidBody();
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rp3d::RigidBody* body2 = mBallAndSocketJointBox2->getRigidBody();
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const rp3d::Vector3 anchorPointWorldSpace(0, 10, 0);
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rp3d::RigidBody* body1 = mBallAndSocketJointChainBoxes[i]->getRigidBody();
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rp3d::RigidBody* body2 = mBallAndSocketJointChainBoxes[i+1]->getRigidBody();
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rp3d::Vector3 body1Position = body1->getTransform().getPosition();
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rp3d::Vector3 body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
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rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
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// Create the joint in the dynamics world
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mBallAndSocketJoint = dynamic_cast<rp3d::BallAndSocketJoint*>(
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mBallAndSocketJoints[i] = dynamic_cast<rp3d::BallAndSocketJoint*>(
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mDynamicsWorld->createJoint(jointInfo));
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}
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}
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/// Create the boxes and joint for the Slider joint example
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void Scene::createSliderJoint() {
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@ -208,46 +240,145 @@ void Scene::createSliderJoint() {
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// --------------- Create the first box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(-4, 6, 0);
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openglframework::Vector3 positionBox1(0, 2.1, 0);
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// Create a box and a corresponding rigid in the dynamics world
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mSliderJointBox1 = new Box(BOX_SIZE, positionBox1 , BOX_MASS, mDynamicsWorld);
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openglframework::Vector3 box1Dimension(2, 4, 2);
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mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// The fist box cannot move
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mSliderJointBox1->getRigidBody()->setIsMotionEnabled(false);
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mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
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// Set the bouncing factor of the box
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mSliderJointBox1->getRigidBody()->setRestitution(0.4);
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mSliderJointBottomBox->getRigidBody()->setRestitution(0.4);
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// --------------- Create the second box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox2(2, 4, 0);
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openglframework::Vector3 positionBox2(0, 4.2, 0);
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// Create a box and a corresponding rigid in the dynamics world
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mSliderJointBox2 = new Box(BOX_SIZE, positionBox2 , BOX_MASS, mDynamicsWorld);
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openglframework::Vector3 box2Dimension(1.5, 4, 1.5);
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mSliderJointTopBox = new Box(box2Dimension, positionBox2 , BOX_MASS, mDynamicsWorld);
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// The second box is allowed to move
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mSliderJointBox2->getRigidBody()->setIsMotionEnabled(true);
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mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mSliderJointBox2->getRigidBody()->setRestitution(0.4);
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mSliderJointTopBox->getRigidBody()->setRestitution(0.4);
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// --------------- Create the joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mSliderJointBox1->getRigidBody();
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rp3d::RigidBody* body2 = mSliderJointBox2->getRigidBody();
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rp3d::RigidBody* body1 = mSliderJointBottomBox->getRigidBody();
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rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
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const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
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const rp3d::Vector3 sliderAxisWorldSpace = body2Position - body1Position;
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rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace);
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const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
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rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
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-1.7, 1.7);
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jointInfo.isMotorEnabled = true;
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jointInfo.motorSpeed = 0.0;
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jointInfo.maxMotorForce = 10000.0;
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jointInfo.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(mDynamicsWorld->createJoint(jointInfo));
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}
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/// Create the boxes and joint for the Hinge joint example
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void Scene::createPropellerHingeJoint() {
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// --------------- Create the propeller box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(0, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 boxDimension(10, 1, 1);
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mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// The fist box cannot move
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mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mPropellerBox->getRigidBody()->setRestitution(0.4);
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// --------------- Create the Hinge joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mPropellerBox->getRigidBody();
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rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
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const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
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const rp3d::Vector3 hingeAxisWorldSpace(0, 1, 0);
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rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
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jointInfo.isMotorEnabled = true;
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jointInfo.motorSpeed = -0.5 * PI;
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jointInfo.maxMotorTorque = 60.0;
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jointInfo.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(mDynamicsWorld->createJoint(jointInfo));
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}
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/// Create the boxes and joints for the fixed joints
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void Scene::createFixedJoints() {
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// --------------- Create the first box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(5, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
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mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// The fist box cannot move
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mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mFixedJointBox1->getRigidBody()->setRestitution(0.4);
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// --------------- Create the second box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox2(-5, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
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// The second box is allowed to move
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mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);
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// Set the bouncing factor of the box
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mFixedJointBox2->getRigidBody()->setRestitution(0.4);
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// --------------- Create the first fixed joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mFixedJointBox1->getRigidBody();
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rp3d::RigidBody* propellerBody = mPropellerBox->getRigidBody();
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const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
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rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
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// Create the joint in the dynamics world
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mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
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// --------------- Create the second fixed joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body2 = mFixedJointBox2->getRigidBody();
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const rp3d::Vector3 anchorPointWorldSpace2(-5, 7, 0);
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rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
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// Create the joint in the dynamics world
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mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));
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}
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// Create the floor
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void Scene::createFloor() {
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@ -36,6 +36,8 @@ const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in
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const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20); // Floor dimensions in meters
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const float BOX_MASS = 1.0f; // Box mass in kilograms
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const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
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const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes
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const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes
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// Class Scene
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class Scene {
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@ -53,24 +55,45 @@ class Scene {
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/// Phong shader
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openglframework::Shader mPhongShader;
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/// Box 1 of Ball-And-Socket joint
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Box* mBallAndSocketJointBox1;
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/// Boxes of Ball-And-Socket joint chain
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Box* mBallAndSocketJointChainBoxes[NB_BALLSOCKETJOINT_BOXES];
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/// Box 2 of Ball-And-Socket joint
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Box* mBallAndSocketJointBox2;
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/// Boxes of the Hinge joint chain
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Box* mHingeJointChainBoxes[NB_HINGE_BOXES];
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/// Ball-and-Socket joint
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rp3d::BallAndSocketJoint* mBallAndSocketJoint;
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/// Ball-And-Socket joints of the chain
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rp3d::BallAndSocketJoint* mBallAndSocketJoints[NB_BALLSOCKETJOINT_BOXES-1];
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/// Box 1 of Slider joint
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Box* mSliderJointBox1;
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/// Hinge joints of the chain
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rp3d::HingeJoint* mHingeJoints[NB_HINGE_BOXES-1];
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/// Box 2 of Slider joint
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Box* mSliderJointBox2;
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/// Bottom box of the Slider joint
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Box* mSliderJointBottomBox;
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/// Top box of the Slider joint
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Box* mSliderJointTopBox;
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/// Slider joint
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rp3d::SliderJoint* mSliderJoint;
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/// Propeller box
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Box* mPropellerBox;
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/// Box 1 of Fixed joint
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Box* mFixedJointBox1;
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/// Box 2 of Fixed joint
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Box* mFixedJointBox2;
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/// Hinge joint
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rp3d::HingeJoint* mPropellerHingeJoint;
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/// First Fixed joint
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rp3d::FixedJoint* mFixedJoint1;
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/// Second Fixed joint
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rp3d::FixedJoint* mFixedJoint2;
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/// Box for the floor
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Box* mFloor;
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@ -88,6 +111,12 @@ class Scene {
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/// Create the boxes and joint for the Slider joint example
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void createSliderJoint();
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/// Create the boxes and joint for the Hinge joint example
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void createPropellerHingeJoint();
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/// Create the boxes and joint for the Fixed joint example
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void createFixedJoints();
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/// Create the floor
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void createFloor();
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