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Add Ball and Socket joint demo in testbed application

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This commit is contained in:
Daniel Chappuis 2021-02-25 23:55:16 +01:00
parent f600e6b678
commit d465e21fba
4 changed files with 232 additions and 0 deletions
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2
testbed/CMakeLists.txt
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@ -153,6 +153,8 @@ set(SCENES_SOURCES
scenes/bridge/BridgeScene.cpp
scenes/fixedjoint/FixedJointScene.h
scenes/fixedjoint/FixedJointScene.cpp
scenes/ballandsocketjoint/BallAndSocketJointScene.h
scenes/ballandsocketjoint/BallAndSocketJointScene.cpp
)
# Create the executable

142
testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp Normal file
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@ -0,0 +1,142 @@
/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2016 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
// Libraries
#include "BallAndSocketJointScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace ballandsocketjointscene;
// Constructor
BallAndSocketJointScene::BallAndSocketJointScene(const std::string& name, EngineSettings& settings)
: SceneDemo(name, settings, true, SCENE_RADIUS) {
// Compute the radius and the center of the scene
openglframework::Vector3 center(0, 5, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
// Gravity vector in the physics world
rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);
mPhysicsWorld = physicsWorld;
// Create the Ball-and-Socket joint
createBallAndSocketJoint();
// Get the physics engine parameters
mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
}
// Destructor
BallAndSocketJointScene::~BallAndSocketJointScene() {
// Destroy the joints
mPhysicsWorld->destroyJoint(mJoint);
// Destroy all the rigid bodies of the scene
mPhysicsWorld->destroyRigidBody(mBox1->getRigidBody());
mPhysicsWorld->destroyRigidBody(mBox2->getRigidBody());
delete mBox1;
delete mBox2;
// Destroy the physics world
mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
}
// Reset the scene
void BallAndSocketJointScene::reset() {
SceneDemo::reset();
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 8, 0), rp3d::Quaternion::identity()));
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 4), rp3d::Quaternion::identity()));
}
// Create the boxes and joints for the Ball-and-Socket joint example
void BallAndSocketJointScene::createBallAndSocketJoint() {
// --------------- Create the box 1 --------------- //
mBox1 = new Box(true, Vector3(4, 4, 4) , mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 8, 0), rp3d::Quaternion::identity()));
// Set the box color
mBox1->setColor(mObjectColorDemo);
mBox1->setSleepingColor(mSleepingColorDemo);
mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);
mPhysicsObjects.push_back(mBox1);
// --------------- Create the box 2 --------------- //
mBox2 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 4), rp3d::Quaternion::identity()));
// Set the box color
mBox2->setColor(mObjectColorDemo);
mBox2->setSleepingColor(mSleepingColorDemo);
mPhysicsObjects.push_back(mBox2);
// --------------- Create the joint --------------- //
// Create the joint info object
rp3d::RigidBody* body1 = mBox1->getRigidBody();
rp3d::RigidBody* body2 = mBox2->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);
jointInfo.isCollisionEnabled = false;
// Create the joint in the physics world
mJoint = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo));
}

81
testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h Normal file
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@ -0,0 +1,81 @@
/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
* Copyright (c) 2010-2016 Daniel Chappuis *
*********************************************************************************
* *
* This software is provided 'as-is', without any express or implied warranty. *
* In no event will the authors be held liable for any damages arising from the *
* use of this software. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 1. The origin of this software must not be misrepresented; you must not claim *
* that you wrote the original software. If you use this software in a *
* product, an acknowledgment in the product documentation would be *
* appreciated but is not required. *
* *
* 2. Altered source versions must be plainly marked as such, and must not be *
* misrepresented as being the original software. *
* *
* 3. This notice may not be removed or altered from any source distribution. *
* *
********************************************************************************/
#ifndef BALL_AND_SOCKET_JOINT_SCENE_H
#define BALL_AND_SOCKET_JOINT_SCENE_H
// Libraries
#include "openglframework.h"
#include <reactphysics3d/reactphysics3d.h>
#include "Box.h"
#include "SceneDemo.h"
namespace ballandsocketjointscene {
// Constants
const float SCENE_RADIUS = 30.0f;
const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters
const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters
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 BallAndSocketJointScene
class BallAndSocketJointScene : public SceneDemo {
protected :
// -------------------- Attributes -------------------- //
/// First box
Box* mBox1;
/// Second box
Box* mBox2;
/// Ball-And-Socket joint
rp3d::BallAndSocketJoint* mJoint;
// -------------------- Methods -------------------- //
/// Create the Ball-and-Socket joint
void createBallAndSocketJoint();
public:
// -------------------- Methods -------------------- //
/// Constructor
BallAndSocketJointScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~BallAndSocketJointScene() override ;
/// Reset the scene
virtual void reset() override;
};
}
#endif

7
testbed/src/TestbedApplication.cpp
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@ -44,6 +44,7 @@
#include "hingejointschain/HingeJointsChainScene.h"
#include "bridge/BridgeScene.h"
#include "fixedjoint/FixedJointScene.h"
#include "ballandsocketjoint/BallAndSocketJointScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -61,6 +62,7 @@ using namespace ballandsocketjointschainscene;
using namespace hingejointschainscene;
using namespace bridgescene;
using namespace fixedjointscene;
using namespace ballandsocketjointscene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -182,6 +184,11 @@ void TestbedApplication::createScenes() {
// Fixed joint scene
FixedJointScene* fixedJointScene = new FixedJointScene("Fixed joint", mEngineSettings);
mScenes.push_back(fixedJointScene);
// Ball and Socket joint scene
BallAndSocketJointScene* ballAndSocketJointScene = new BallAndSocketJointScene("Ball and Socket joint", mEngineSettings);
mScenes.push_back(ballAndSocketJointScene);
assert(mScenes.size() > 0);
const int firstSceneIndex = 0;