Modify the joints example
This commit is contained in:
Daniel Chappuis
parent
ce0078c2a9
commit
d265a52b67
|
|
@ -25,6 +25,7 @@
|
|||
|
||||
// Libraries
|
||||
#include "Scene.h"
|
||||
#include <cmath>
|
||||
|
||||
// Namespaces
|
||||
using namespace openglframework;
|
||||
|
|
@ -62,6 +63,12 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
|
|||
// Create the Slider joint
|
||||
createSliderJoint();
|
||||
|
||||
// Create the Hinge joint
|
||||
createPropellerHingeJoint();
|
||||
|
||||
// Create the Fixed joint
|
||||
createFixedJoints();
|
||||
|
||||
// Create the floor
|
||||
createFloor();
|
||||
|
||||
|
|
@ -79,18 +86,32 @@ Scene::~Scene() {
|
|||
mPhongShader.destroy();
|
||||
|
||||
// Destroy the joints
|
||||
mDynamicsWorld->destroyJoint(mBallAndSocketJoint);
|
||||
mDynamicsWorld->destroyJoint(mSliderJoint);
|
||||
mDynamicsWorld->destroyJoint(mPropellerHingeJoint);
|
||||
mDynamicsWorld->destroyJoint(mFixedJoint1);
|
||||
mDynamicsWorld->destroyJoint(mFixedJoint2);
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
|
||||
mDynamicsWorld->destroyJoint(mBallAndSocketJoints[i]);
|
||||
}
|
||||
|
||||
// Destroy all the boxes of the scene
|
||||
mDynamicsWorld->destroyRigidBody(mBallAndSocketJointBox1->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mBallAndSocketJointBox2->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mSliderJointBox1->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mSliderJointBox2->getRigidBody());
|
||||
delete mBallAndSocketJointBox1;
|
||||
delete mBallAndSocketJointBox2;
|
||||
delete mSliderJointBox1;
|
||||
delete mSliderJointBox2;
|
||||
// Destroy all the rigid bodies of the scene
|
||||
mDynamicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
|
||||
mDynamicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
||||
mDynamicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
|
||||
}
|
||||
|
||||
delete mSliderJointBottomBox;
|
||||
delete mSliderJointTopBox;
|
||||
delete mPropellerBox;
|
||||
delete mFixedJointBox1;
|
||||
delete mFixedJointBox2;
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
||||
delete mBallAndSocketJointChainBoxes[i];
|
||||
}
|
||||
|
||||
// Destroy the floor
|
||||
mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
|
||||
|
|
@ -106,14 +127,22 @@ void Scene::simulate() {
|
|||
// If the physics simulation is running
|
||||
if (mIsRunning) {
|
||||
|
||||
// Update the motor speed of the Slider Joint (to move up and down)
|
||||
long double motorSpeed = 3 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
|
||||
mSliderJoint->setMotorSpeed(motorSpeed);
|
||||
|
||||
// Take a simulation step
|
||||
mDynamicsWorld->update();
|
||||
|
||||
// Update the position and orientation of the boxes
|
||||
mBallAndSocketJointBox1->updateTransform();
|
||||
mBallAndSocketJointBox2->updateTransform();
|
||||
mSliderJointBox1->updateTransform();
|
||||
mSliderJointBox2->updateTransform();
|
||||
mSliderJointBottomBox->updateTransform();
|
||||
mSliderJointTopBox->updateTransform();
|
||||
mPropellerBox->updateTransform();
|
||||
mFixedJointBox1->updateTransform();
|
||||
mFixedJointBox2->updateTransform();
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
||||
mBallAndSocketJointChainBoxes[i]->updateTransform();
|
||||
}
|
||||
|
||||
// Update the position and orientation of the floor
|
||||
mFloor->updateTransform();
|
||||
|
|
@ -146,10 +175,14 @@ void Scene::render() {
|
|||
mPhongShader.setFloatUniform("shininess", 60.0f);
|
||||
|
||||
// Render all the boxes
|
||||
mBallAndSocketJointBox1->render(mPhongShader);
|
||||
mBallAndSocketJointBox2->render(mPhongShader);
|
||||
mSliderJointBox1->render(mPhongShader);
|
||||
mSliderJointBox2->render(mPhongShader);
|
||||
mSliderJointBottomBox->render(mPhongShader);
|
||||
mSliderJointTopBox->render(mPhongShader);
|
||||
mPropellerBox->render(mPhongShader);
|
||||
mFixedJointBox1->render(mPhongShader);
|
||||
mFixedJointBox2->render(mPhongShader);
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
||||
mBallAndSocketJointChainBoxes[i]->render(mPhongShader);
|
||||
}
|
||||
|
||||
// Render the floor
|
||||
mFloor->render(mPhongShader);
|
||||
|
|
@ -161,45 +194,44 @@ void Scene::render() {
|
|||
// Create the boxes and joints for the Ball-and-Socket joint example
|
||||
void Scene::createBallAndSocketJoints() {
|
||||
|
||||
// --------------- Create the first box --------------- //
|
||||
// --------------- Create the boxes --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox1(0, 15, 0);
|
||||
openglframework::Vector3 positionBox(0, 15, 5);
|
||||
openglframework::Vector3 boxDimension(1, 1, 1);
|
||||
const float boxMass = 0.5f;
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mBallAndSocketJointBox1 = new Box(BOX_SIZE, positionBox1 , BOX_MASS, mDynamicsWorld);
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
||||
|
||||
// The fist box cannot move
|
||||
mBallAndSocketJointBox1->getRigidBody()->setIsMotionEnabled(false);
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, positionBox , boxMass,
|
||||
mDynamicsWorld);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mBallAndSocketJointBox1->getRigidBody()->setRestitution(0.4);
|
||||
// The fist box cannot move
|
||||
if (i == 0) mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(false);
|
||||
else mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(true);
|
||||
|
||||
// --------------- Create the second box --------------- //
|
||||
// Set the bouncing factor of the box
|
||||
mBallAndSocketJointChainBoxes[i]->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox2(5, 10, 0);
|
||||
positionBox.y -= boxDimension.y + 0.5;
|
||||
}
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mBallAndSocketJointBox2 = new Box(BOX_SIZE, positionBox2 , BOX_MASS, mDynamicsWorld);
|
||||
// --------------- Create the joints --------------- //
|
||||
|
||||
// The second box is allowed to move
|
||||
mBallAndSocketJointBox2->getRigidBody()->setIsMotionEnabled(true);
|
||||
for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mBallAndSocketJointBox2->getRigidBody()->setRestitution(0.4);
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body1 = mBallAndSocketJointChainBoxes[i]->getRigidBody();
|
||||
rp3d::RigidBody* body2 = mBallAndSocketJointChainBoxes[i+1]->getRigidBody();
|
||||
rp3d::Vector3 body1Position = body1->getTransform().getPosition();
|
||||
rp3d::Vector3 body2Position = body2->getTransform().getPosition();
|
||||
const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
|
||||
rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
|
||||
|
||||
// --------------- Create the joint --------------- //
|
||||
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body1 = mBallAndSocketJointBox1->getRigidBody();
|
||||
rp3d::RigidBody* body2 = mBallAndSocketJointBox2->getRigidBody();
|
||||
const rp3d::Vector3 anchorPointWorldSpace(0, 10, 0);
|
||||
rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
|
||||
|
||||
// Create the joint in the dynamics world
|
||||
mBallAndSocketJoint = dynamic_cast<rp3d::BallAndSocketJoint*>(
|
||||
mDynamicsWorld->createJoint(jointInfo));
|
||||
// Create the joint in the dynamics world
|
||||
mBallAndSocketJoints[i] = dynamic_cast<rp3d::BallAndSocketJoint*>(
|
||||
mDynamicsWorld->createJoint(jointInfo));
|
||||
}
|
||||
}
|
||||
|
||||
/// Create the boxes and joint for the Slider joint example
|
||||
|
|
@ -208,46 +240,145 @@ void Scene::createSliderJoint() {
|
|||
// --------------- Create the first box --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox1(-4, 6, 0);
|
||||
openglframework::Vector3 positionBox1(0, 2.1, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mSliderJointBox1 = new Box(BOX_SIZE, positionBox1 , BOX_MASS, mDynamicsWorld);
|
||||
openglframework::Vector3 box1Dimension(2, 4, 2);
|
||||
mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
||||
|
||||
// The fist box cannot move
|
||||
mSliderJointBox1->getRigidBody()->setIsMotionEnabled(false);
|
||||
mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mSliderJointBox1->getRigidBody()->setRestitution(0.4);
|
||||
mSliderJointBottomBox->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// --------------- Create the second box --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox2(2, 4, 0);
|
||||
openglframework::Vector3 positionBox2(0, 4.2, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mSliderJointBox2 = new Box(BOX_SIZE, positionBox2 , BOX_MASS, mDynamicsWorld);
|
||||
openglframework::Vector3 box2Dimension(1.5, 4, 1.5);
|
||||
mSliderJointTopBox = new Box(box2Dimension, positionBox2 , BOX_MASS, mDynamicsWorld);
|
||||
|
||||
// The second box is allowed to move
|
||||
mSliderJointBox2->getRigidBody()->setIsMotionEnabled(true);
|
||||
mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mSliderJointBox2->getRigidBody()->setRestitution(0.4);
|
||||
mSliderJointTopBox->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// --------------- Create the joint --------------- //
|
||||
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body1 = mSliderJointBox1->getRigidBody();
|
||||
rp3d::RigidBody* body2 = mSliderJointBox2->getRigidBody();
|
||||
rp3d::RigidBody* body1 = mSliderJointBottomBox->getRigidBody();
|
||||
rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
|
||||
const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
|
||||
const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
|
||||
const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
|
||||
const rp3d::Vector3 sliderAxisWorldSpace = body2Position - body1Position;
|
||||
rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace);
|
||||
const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
|
||||
rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
|
||||
-1.7, 1.7);
|
||||
jointInfo.isMotorEnabled = true;
|
||||
jointInfo.motorSpeed = 0.0;
|
||||
jointInfo.maxMotorForce = 10000.0;
|
||||
jointInfo.isCollisionEnabled = false;
|
||||
|
||||
// Create the joint in the dynamics world
|
||||
mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(mDynamicsWorld->createJoint(jointInfo));
|
||||
}
|
||||
|
||||
/// Create the boxes and joint for the Hinge joint example
|
||||
void Scene::createPropellerHingeJoint() {
|
||||
|
||||
// --------------- Create the propeller box --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox1(0, 7, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 boxDimension(10, 1, 1);
|
||||
mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
||||
|
||||
// The fist box cannot move
|
||||
mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mPropellerBox->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// --------------- Create the Hinge joint --------------- //
|
||||
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body1 = mPropellerBox->getRigidBody();
|
||||
rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
|
||||
const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
|
||||
const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
|
||||
const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
|
||||
const rp3d::Vector3 hingeAxisWorldSpace(0, 1, 0);
|
||||
rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
|
||||
jointInfo.isMotorEnabled = true;
|
||||
jointInfo.motorSpeed = -0.5 * PI;
|
||||
jointInfo.maxMotorTorque = 60.0;
|
||||
jointInfo.isCollisionEnabled = false;
|
||||
|
||||
// Create the joint in the dynamics world
|
||||
mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(mDynamicsWorld->createJoint(jointInfo));
|
||||
}
|
||||
|
||||
/// Create the boxes and joints for the fixed joints
|
||||
void Scene::createFixedJoints() {
|
||||
|
||||
// --------------- Create the first box --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox1(5, 7, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
|
||||
mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
||||
|
||||
// The fist box cannot move
|
||||
mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mFixedJointBox1->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// --------------- Create the second box --------------- //
|
||||
|
||||
// Position of the box
|
||||
openglframework::Vector3 positionBox2(-5, 7, 0);
|
||||
|
||||
// Create a box and a corresponding rigid in the dynamics world
|
||||
mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
|
||||
|
||||
// The second box is allowed to move
|
||||
mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);
|
||||
|
||||
// Set the bouncing factor of the box
|
||||
mFixedJointBox2->getRigidBody()->setRestitution(0.4);
|
||||
|
||||
// --------------- Create the first fixed joint --------------- //
|
||||
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body1 = mFixedJointBox1->getRigidBody();
|
||||
rp3d::RigidBody* propellerBody = mPropellerBox->getRigidBody();
|
||||
const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
|
||||
rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
|
||||
|
||||
// Create the joint in the dynamics world
|
||||
mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
|
||||
|
||||
// --------------- Create the second fixed joint --------------- //
|
||||
|
||||
// Create the joint info object
|
||||
rp3d::RigidBody* body2 = mFixedJointBox2->getRigidBody();
|
||||
const rp3d::Vector3 anchorPointWorldSpace2(-5, 7, 0);
|
||||
rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
|
||||
|
||||
// Create the joint in the dynamics world
|
||||
mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));
|
||||
}
|
||||
|
||||
|
||||
// Create the floor
|
||||
void Scene::createFloor() {
|
||||
|
||||
|
|
|
|||
|
|
@ -36,6 +36,8 @@ const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in
|
|||
const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20); // Floor dimensions in meters
|
||||
const float BOX_MASS = 1.0f; // Box mass in kilograms
|
||||
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
|
||||
const int NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes
|
||||
const int NB_HINGE_BOXES = 7; // Number of Hinge chain boxes
|
||||
|
||||
// Class Scene
|
||||
class Scene {
|
||||
|
|
@ -53,24 +55,45 @@ class Scene {
|
|||
/// Phong shader
|
||||
openglframework::Shader mPhongShader;
|
||||
|
||||
/// Box 1 of Ball-And-Socket joint
|
||||
Box* mBallAndSocketJointBox1;
|
||||
/// Boxes of Ball-And-Socket joint chain
|
||||
Box* mBallAndSocketJointChainBoxes[NB_BALLSOCKETJOINT_BOXES];
|
||||
|
||||
/// Box 2 of Ball-And-Socket joint
|
||||
Box* mBallAndSocketJointBox2;
|
||||
/// Boxes of the Hinge joint chain
|
||||
Box* mHingeJointChainBoxes[NB_HINGE_BOXES];
|
||||
|
||||
/// Ball-and-Socket joint
|
||||
rp3d::BallAndSocketJoint* mBallAndSocketJoint;
|
||||
/// Ball-And-Socket joints of the chain
|
||||
rp3d::BallAndSocketJoint* mBallAndSocketJoints[NB_BALLSOCKETJOINT_BOXES-1];
|
||||
|
||||
/// Box 1 of Slider joint
|
||||
Box* mSliderJointBox1;
|
||||
/// Hinge joints of the chain
|
||||
rp3d::HingeJoint* mHingeJoints[NB_HINGE_BOXES-1];
|
||||
|
||||
/// Box 2 of Slider joint
|
||||
Box* mSliderJointBox2;
|
||||
/// Bottom box of the Slider joint
|
||||
Box* mSliderJointBottomBox;
|
||||
|
||||
/// Top box of the Slider joint
|
||||
Box* mSliderJointTopBox;
|
||||
|
||||
/// Slider joint
|
||||
rp3d::SliderJoint* mSliderJoint;
|
||||
|
||||
/// Propeller box
|
||||
Box* mPropellerBox;
|
||||
|
||||
/// Box 1 of Fixed joint
|
||||
Box* mFixedJointBox1;
|
||||
|
||||
/// Box 2 of Fixed joint
|
||||
Box* mFixedJointBox2;
|
||||
|
||||
/// Hinge joint
|
||||
rp3d::HingeJoint* mPropellerHingeJoint;
|
||||
|
||||
/// First Fixed joint
|
||||
rp3d::FixedJoint* mFixedJoint1;
|
||||
|
||||
/// Second Fixed joint
|
||||
rp3d::FixedJoint* mFixedJoint2;
|
||||
|
||||
/// Box for the floor
|
||||
Box* mFloor;
|
||||
|
||||
|
|
@ -88,6 +111,12 @@ class Scene {
|
|||
/// Create the boxes and joint for the Slider joint example
|
||||
void createSliderJoint();
|
||||
|
||||
/// Create the boxes and joint for the Hinge joint example
|
||||
void createPropellerHingeJoint();
|
||||
|
||||
/// Create the boxes and joint for the Fixed joint example
|
||||
void createFixedJoints();
|
||||
|
||||
/// Create the floor
|
||||
void createFloor();
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user