Add the Material class to store the material properties of a rigid body

examples/common/opengl-framework/src/Mesh.cpp

@@ -84,7 +84,7 @@ void Mesh::calculateNormals() {
 
     // Normalize the normal at each vertex
     for (uint i=0; i<getNbVertices(); i++) {
-        assert(mNormals[i].length() > 0);
+        std::cout << "vertex n : " << i << std::endl;
         mNormals[i] = mNormals[i].normalize();
     }
 }

examples/fallingcubes/Scene.cpp

@@ -59,7 +59,7 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
     float radius = 2.0f;
 
     // Create all the cubes of the scene
-    for (int i=0; i<NB_CUBES; i++) {
+    for (int i=0; i<NB_SPHERES; i++) {
 
         // Position of the cubes
         float angle = i * 30.0f;
@@ -70,11 +70,11 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
         // Create a cube and a corresponding rigid in the dynamics world
         Box* cube = new Box(BOX_SIZE, position , CUBE_MASS, mDynamicsWorld);
 
-        // The box is a moving rigid body
         cube->getRigidBody()->setIsMotionEnabled(true);
 
-        // Set the bouncing factor of the box
+        // Change the material properties of the rigid body
-        cube->getRigidBody()->setRestitution(0.4);
+        rp3d::Material& material = cube->getRigidBody()->getMaterial();
+        material.setBounciness(0.4);
 
         // Add the box the list of box in the scene
         mBoxes.push_back(cube);
@@ -87,8 +87,9 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
     // The floor must be a non-moving rigid body
     mFloor->getRigidBody()->setIsMotionEnabled(false);
 
-    // Set the bouncing factor of the floor
+    // Change the material properties of the floor rigid body
-    mFloor->getRigidBody()->setRestitution(0.3);
+    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    material.setBounciness(0.3);
 
     // Start the simulation
     startSimulation();

examples/fallingcubes/Scene.h

@@ -32,7 +32,7 @@
 #include "Box.h"
 
 // Constants
-const int NB_CUBES = 20;                                    // Number of boxes in the scene
+const int NB_SPHERES = 20;                                    // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);    // Floor dimensions in meters
 const float CUBE_MASS = 1.0f;                               // Box mass in kilograms

examples/joints/Scene.cpp

@@ -209,8 +209,9 @@ void Scene::createBallAndSocketJoints() {
         if (i == 0) mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(false);
         else mBallAndSocketJointChainBoxes[i]->getRigidBody()->setIsMotionEnabled(true);
 
-        // Set the bouncing factor of the box
+        // Change the material properties of the rigid body
-        mBallAndSocketJointChainBoxes[i]->getRigidBody()->setRestitution(0.4);
+        rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
+        material.setBounciness(0.4);
 
         positionBox.y -= boxDimension.y + 0.5;
     }
@@ -248,8 +249,9 @@ void Scene::createSliderJoint() {
     // The fist box cannot move
     mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
 
-    // Set the bouncing factor of the box
+    // Change the material properties of the rigid body
-    mSliderJointBottomBox->getRigidBody()->setRestitution(0.4);
+    rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
+    material1.setBounciness(0.4);
 
     // --------------- Create the second box --------------- //
 
@@ -263,8 +265,9 @@ void Scene::createSliderJoint() {
     // The second box is allowed to move
     mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
 
-    // Set the bouncing factor of the box
+    // Change the material properties of the rigid body
-    mSliderJointTopBox->getRigidBody()->setRestitution(0.4);
+    rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
+    material2.setBounciness(0.4);
 
     // --------------- Create the joint --------------- //
 
@@ -301,8 +304,9 @@ void Scene::createPropellerHingeJoint() {
     // The fist box cannot move
     mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
 
-    // Set the bouncing factor of the box
+    // Change the material properties of the rigid body
-    mPropellerBox->getRigidBody()->setRestitution(0.4);
+    rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
+    material.setBounciness(0.4);
 
     // --------------- Create the Hinge joint --------------- //
 
@@ -338,8 +342,9 @@ void Scene::createFixedJoints() {
     // The fist box cannot move
     mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
 
-    // Set the bouncing factor of the box
+    // Change the material properties of the rigid body
-    mFixedJointBox1->getRigidBody()->setRestitution(0.4);
+    rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
+    material1.setBounciness(0.4);
 
     // --------------- Create the second box --------------- //
 
@@ -352,8 +357,9 @@ void Scene::createFixedJoints() {
     // The second box is allowed to move
     mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);
 
-    // Set the bouncing factor of the box
+    // Change the material properties of the rigid body
-    mFixedJointBox2->getRigidBody()->setRestitution(0.4);
+    rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
+    material2.setBounciness(0.4);
 
     // --------------- Create the first fixed joint --------------- //
 
@@ -390,6 +396,7 @@ void Scene::createFloor() {
     // The floor must be a non-moving rigid body
     mFloor->getRigidBody()->setIsMotionEnabled(false);
 
-    // Set the bouncing factor of the floor
+    // Change the material properties of the rigid body
-    mFloor->getRigidBody()->setRestitution(0.3);
+    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    material.setBounciness(0.3);
 }

src/body/RigidBody.cpp

@@ -35,10 +35,7 @@ using namespace reactphysics3d;
                       CollisionShape *collisionShape, bodyindex id)
            : CollisionBody(transform, collisionShape, id), mInertiaTensorLocal(inertiaTensorLocal),
              mMass(mass), mInertiaTensorLocalInverse(inertiaTensorLocal.getInverse()),
-             mMassInverse(decimal(1.0) / mass), mFrictionCoefficient(DEFAULT_FRICTION_COEFFICIENT),
+             mMassInverse(decimal(1.0) / mass), mIsGravityEnabled(true) {
-             mIsGravityEnabled(true) {
-
-    mRestitution = decimal(1.0);
 
     assert(collisionShape);
 }

src/body/RigidBody.h

@@ -29,6 +29,7 @@
 // Libraries
 #include <cassert>
 #include "CollisionBody.h"
+#include "../engine/Material.h"
 #include "../mathematics/mathematics.h"
 
 /// Namespace reactphysics3d
@@ -73,15 +74,12 @@ class RigidBody : public CollisionBody {
         /// Inverse of the mass of the body
         decimal mMassInverse;
 
-        /// Coefficient of restitution (between 0 and 1) where 1 is for a very bouncy body
-        decimal mRestitution;
-
-        /// Friction coefficient
-        decimal mFrictionCoefficient;
-
         /// True if the gravity needs to be applied to this rigid body
         bool mIsGravityEnabled;
 
+        /// Material properties of the rigid body
+        Material mMaterial;
+
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -151,24 +149,18 @@ class RigidBody : public CollisionBody {
 
         /// Return the inverse of the inertia tensor in world coordinates.
         Matrix3x3 getInertiaTensorInverseWorld() const;
-        
-        /// Get the restitution coefficient
-        decimal getRestitution() const;
-
-        /// Set the restitution coefficient
-        void setRestitution(decimal restitution);
-
-        /// Get the friction coefficient
-        decimal getFrictionCoefficient() const;
-
-        /// Set the friction coefficient
-        void setFrictionCoefficient(decimal frictionCoefficient);
 
         /// Return true if the gravity needs to be applied to this rigid body
         bool isGravityEnabled() const;
 
         /// 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);
 };
 
 // Method that return the mass of the body
@@ -276,27 +268,6 @@ inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
     }
 }
 
-// Get the restitution coeffficient of the rigid body
-inline decimal RigidBody::getRestitution() const {
-    return mRestitution;
-}
-
-// Set the restitution coefficient
-inline void RigidBody::setRestitution(decimal restitution) {
-    assert(restitution >= 0.0 && restitution <= 1.0);
-    mRestitution = restitution;
-}
-
-// Get the friction coefficient
-inline decimal RigidBody::getFrictionCoefficient() const {
-    return mFrictionCoefficient;
-}
-
-// Set the friction coefficient
-inline void RigidBody::setFrictionCoefficient(decimal frictionCoefficient) {
-    mFrictionCoefficient = frictionCoefficient;
-}
-
 // Return true if the gravity needs to be applied to this rigid body
 inline bool RigidBody::isGravityEnabled() const {
     return mIsGravityEnabled;
@@ -307,6 +278,16 @@ inline void RigidBody::enableGravity(bool isEnabled) {
     mIsGravityEnabled = isEnabled;
 }
 
+// Return a reference to the material properties of the rigid body
+inline Material& RigidBody::getMaterial() {
+    return mMaterial;
+}
+
+// Set a new material for this rigid body
+inline void RigidBody::setMaterial(const Material& material) {
+    mMaterial = material;
+}
+
 }
 
  #endif

src/configuration.h

@@ -89,6 +89,9 @@ const decimal DEFAULT_TIMESTEP = decimal(1.0 / 60.0);
 /// Default friction coefficient for a rigid body
 const decimal DEFAULT_FRICTION_COEFFICIENT = decimal(0.3);
 
+/// Default bounciness factor for a rigid body
+const decimal DEFAULT_BOUNCINESS = decimal(0.5);
+
 /// True if the deactivation (sleeping) of inactive bodies is enabled
 const bool DEACTIVATION_ENABLED = true;
 

src/engine/ContactSolver.h

@@ -367,12 +367,12 @@ class ContactSolver {
                                const ContactManifoldSolver& manifold);
 
         /// Compute the collision restitution factor from the restitution factor of each body
-        decimal computeMixedRestitutionFactor(const RigidBody* body1,
+        decimal computeMixedRestitutionFactor(RigidBody *body1,
-                                              const RigidBody* body2) const;
+                                              RigidBody *body2) const;
 
         /// Compute the mixed friction coefficient from the friction coefficient of each body
-        decimal computeMixedFrictionCoefficient(const RigidBody* body1,
+        decimal computeMixedFrictionCoefficient(RigidBody* body1,
-                                                const RigidBody* body2)const;
+                                                RigidBody* body2) const;
 
         /// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction
         /// plane for a contact point. The two vectors have to be
@@ -489,20 +489,21 @@ inline void ContactSolver::setIsSolveFrictionAtContactManifoldCenterActive(bool
 }
 
 // Compute the collision restitution factor from the restitution factor of each body
-inline decimal ContactSolver::computeMixedRestitutionFactor(const RigidBody* body1,
+inline decimal ContactSolver::computeMixedRestitutionFactor(RigidBody* body1,
-                                                            const RigidBody* body2) const {
+                                                            RigidBody* body2) const {
-    decimal restitution1 = body1->getRestitution();
+    decimal restitution1 = body1->getMaterial().getBounciness();
-    decimal restitution2 = body2->getRestitution();
+    decimal restitution2 = body2->getMaterial().getBounciness();
 
     // Return the largest restitution factor
     return (restitution1 > restitution2) ? restitution1 : restitution2;
 }
 
 // Compute the mixed friction coefficient from the friction coefficient of each body
-inline decimal ContactSolver::computeMixedFrictionCoefficient(const RigidBody* body1,
+inline decimal ContactSolver::computeMixedFrictionCoefficient(RigidBody *body1,
-                                                              const RigidBody* body2) const {
+                                                              RigidBody *body2) const {
     // Use the geometric mean to compute the mixed friction coefficient
-    return sqrt(body1->getFrictionCoefficient() * body2->getFrictionCoefficient());
+    return sqrt(body1->getMaterial().getFrictionCoefficient() *
+                body2->getMaterial().getFrictionCoefficient());
 }
 
 // Compute a penetration constraint impulse

src/engine/Material.cpp

@@ -0,0 +1,46 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 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 "Material.h"
+
+using namespace reactphysics3d;
+
+// Constructor
+Material::Material()
+         : mFrictionCoefficient(DEFAULT_FRICTION_COEFFICIENT), mBounciness(DEFAULT_BOUNCINESS) {
+
+}
+
+// Copy-constructor
+Material::Material(const Material& material)
+         : mFrictionCoefficient(material.mFrictionCoefficient), mBounciness(material.mBounciness) {
+
+}
+
+// Destructor
+Material::~Material() {
+
+}

src/engine/Material.h

@@ -0,0 +1,119 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 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 REACTPHYSICS3D_MATERIAL_H
+#define REACTPHYSICS3D_MATERIAL_H
+
+// Libraries
+#include <cassert>
+#include "../configuration.h"
+
+namespace reactphysics3d {
+
+// Class Material
+/**
+ * This class contains the material properties of a rigid body that will be use for
+ * the dynamics simulation like the friction coefficient or the bounciness of the rigid
+ * body.
+ */
+class Material {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Friction coefficient (positive value)
+        decimal mFrictionCoefficient;
+
+        /// Bounciness during collisions (between 0 and 1) where 1 is for a very bouncy body
+        decimal mBounciness;
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Material();
+
+        /// Copy-constructor
+        Material(const Material& material);
+
+        /// Destructor
+        ~Material();
+
+        /// Return the bounciness
+        decimal getBounciness() const;
+
+        /// Set the bounciness
+        void setBounciness(decimal bounciness);
+
+        /// Return the friction coefficient
+        decimal getFrictionCoefficient() const;
+
+        /// Set the friction coefficient
+        void setFrictionCoefficient(decimal frictionCoefficient);
+
+        /// Overloaded assignment operator
+        Material& operator=(const Material& material);
+};
+
+// Return the bounciness
+inline decimal Material::getBounciness() const {
+    return mBounciness;
+}
+
+// Set the bounciness
+inline void Material::setBounciness(decimal bounciness) {
+    assert(bounciness >= decimal(0.0) && bounciness <= decimal(1.0));
+    mBounciness = bounciness;
+}
+
+// Return the friction coefficient
+inline decimal Material::getFrictionCoefficient() const {
+    return mFrictionCoefficient;
+}
+
+// Set the friction coefficient
+inline void Material::setFrictionCoefficient(decimal frictionCoefficient) {
+    assert(frictionCoefficient >= decimal(0.0));
+    mFrictionCoefficient = frictionCoefficient;
+}
+
+// Overloaded assignment operator
+inline Material& Material::operator=(const Material& material) {
+
+    // Check for self-assignment
+    if (this != &material) {
+        mFrictionCoefficient = material.mFrictionCoefficient;
+        mBounciness = material.mBounciness;
+    }
+
+    // Return this material
+    return *this;
+}
+
+}
+
+#endif