diff --git a/testbed/CMakeLists.txt b/testbed/CMakeLists.txt
index 4d88e0ad..b832c65f 100755
--- a/testbed/CMakeLists.txt
+++ b/testbed/CMakeLists.txt
@@ -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
diff --git a/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp
new file mode 100644
index 00000000..452cfc1f
--- /dev/null
+++ b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.cpp
@@ -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));
+}
diff --git a/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h
new file mode 100644
index 00000000..a00b634d
--- /dev/null
+++ b/testbed/scenes/ballandsocketjoint/BallAndSocketJointScene.h
@@ -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
diff --git a/testbed/src/TestbedApplication.cpp b/testbed/src/TestbedApplication.cpp
index 6e39d859..b9c00b06 100755
--- a/testbed/src/TestbedApplication.cpp
+++ b/testbed/src/TestbedApplication.cpp
@@ -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;