Make possible to apply force to bodies in the testbed application

testbed/src/Gui.cpp

@@ -139,6 +139,7 @@ void Gui::createSimulationPanel() {
     new Label(mSimulationPanel, "Scene","sans-bold");
     ComboBox* comboBoxScenes = new ComboBox(mSimulationPanel, scenesNames);
     comboBoxScenes->set_fixed_width(150);
+    comboBoxScenes->popup()->child_at(0)->set_fixed_height(800);
     comboBoxScenes->set_callback([&, scenes](int index) {
         mApp->switchScene(scenes[index]);
     });

testbed/src/Scene.cpp

@@ -91,8 +91,7 @@ bool Scene::mapMouseCoordinatesToSphere(double xMouse, double yMouse,
 }
 
 // Called when a mouse button event occurs
-bool Scene::mouseButtonEvent(int button, bool down, int mods,
-                             double mousePosX, double mousePosY) {
+bool Scene::mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY) {
 
     // If the mouse button is pressed
     if (down) {

testbed/src/Scene.h

@@ -199,8 +199,7 @@ class Scene : public rp3d::EventListener {
         virtual bool keyboardEvent(int key, int scancode, int action, int mods);
 
         /// Called when a mouse button event occurs
-        virtual bool mouseButtonEvent(int button, bool down, int mods,
-                                      double mousePosX, double mousePosY);
+        virtual bool mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY);
 
         /// Called when a mouse motion event occurs
         virtual bool mouseMotionEvent(double xMouse, double yMouse, int leftButtonState,

testbed/src/SceneDemo.cpp

@@ -47,7 +47,8 @@ SceneDemo::SceneDemo(const std::string& name, EngineSettings& settings, bool isP
 					 mColorShader("shaders/color.vert", "shaders/color.frag"),
                      mQuadShader("shaders/quad.vert", "shaders/quad.frag"),
                      mVBOQuad(GL_ARRAY_BUFFER), mDebugVBOLinesVertices(GL_ARRAY_BUFFER), mDebugVBOTrianglesVertices(GL_ARRAY_BUFFER),
-                     mMeshFolderPath("meshes/"), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated) {
+                     mMeshFolderPath("meshes/"), mPhysicsWorld(nullptr), mIsPhysicsWorldSimulated(isPhysicsWorldSimulated),
+                    mIsMovingBody(false), mMovingBody(nullptr) {
 
     shadowMapTextureLevel++;
 
@@ -612,6 +613,75 @@ void SceneDemo::removeAllVisualContactPoints() {
     mVisualContactPoints.clear();
 }
 
+// Called when the user is moving a body with the mouse
+void SceneDemo::moveBodyWithMouse(double mousePosX, double mousePosY) {
+
+    if (!mIsMovingBody) {
+
+        // Find the body and the position of the mouse on that body (with raycasting)
+        openglframework::Vector4 screenPoint1((mousePosX / mWindowWidth) * 2.0 - 1.0, ((mWindowHeight - mousePosY) / mWindowHeight) * 2.0 - 1.0, -1, 1);
+        openglframework::Vector4 screenPoint2((mousePosX / mWindowWidth) * 2.0 - 1.0, ((mWindowHeight - mousePosY) / mWindowHeight) * 2.0 - 1.0, 1, 1);
+        openglframework::Vector4 worldP1 = (mCamera.getTransformMatrix() * mCamera.getProjectionMatrix().getInverse()) * screenPoint1;
+        openglframework::Vector4 worldP2 = (mCamera.getTransformMatrix() * mCamera.getProjectionMatrix().getInverse()) * screenPoint2;
+        openglframework::Vector3 cameraPos = mCamera.getOrigin();
+        rp3d::Vector3 worldPoint1(worldP1.x, worldP1.y, worldP1.z);
+        rp3d::Vector3 worldPoint2(worldP2.x, worldP2.y, worldP2.z);
+        rp3d::Ray ray(worldPoint1, worldPoint2);
+        mPhysicsWorld->raycast(ray, this);
+    }
+
+    if (mMovingBody != nullptr) {
+        openglframework::Vector4 previousScreenPos(mLastMouseX / mWindowWidth, (mWindowHeight - mLastMouseY) / mWindowHeight, 0, 0);
+        openglframework::Vector4 currentScreenPos(mousePosX / mWindowWidth, (mWindowHeight - mousePosY) / mWindowHeight, 0, 0);
+        openglframework::Vector4 forceScreen = currentScreenPos - previousScreenPos;
+        openglframework::Vector4 f = mCamera.getTransformMatrix() * forceScreen * MOUSE_MOVE_BODY_FORCE;
+        rp3d::Vector3 force(f.x, f.y, f.z);
+        mMovingBody->applyForceAtLocalPosition(force, mMovingBodyLocalPoint);
+    }
+
+    mLastMouseX = mousePosX;
+    mLastMouseY = mousePosY;
+    mIsMovingBody = true;
+}
+
+// Called when a mouse button event occurs
+bool SceneDemo::mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY) {
+
+    // Left mouse click with CTRL key pressed on keyboard (moving a body)
+    if (down && (mods & GLFW_MOD_CONTROL)) {
+
+        moveBodyWithMouse(mousePosX, mousePosY);
+        return true;
+    }
+
+    mIsMovingBody = false;
+    mMovingBody = nullptr;
+
+    return Scene::mouseButtonEvent(button, down, mods, mousePosX, mousePosY);
+}
+
+// Called when a mouse motion event occurs
+bool SceneDemo::mouseMotionEvent(double xMouse, double yMouse, int leftButtonState, int rightButtonState, int middleButtonState, int altKeyState) {
+
+    if (mIsMovingBody) {
+        moveBodyWithMouse(xMouse, yMouse);
+        return true;
+    }
+
+    return Scene::mouseMotionEvent(xMouse, yMouse, leftButtonState, rightButtonState, middleButtonState, altKeyState);
+}
+
+// Called when a raycast hit occurs (used to move a body with the mouse)
+rp3d::decimal SceneDemo::notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) {
+
+    rp3d::RigidBody* body = dynamic_cast<rp3d::RigidBody*>(raycastInfo.body);
+    mMovingBody = body;
+    const rp3d::Transform localToWorldTransform = raycastInfo.collider->getLocalToWorldTransform();
+    mMovingBodyLocalPoint = localToWorldTransform.getInverse() * raycastInfo.worldPoint;
+
+    return raycastInfo.hitFraction;
+}
+
 // Update the engine settings
 void SceneDemo::updateEngineSettings() {
 

testbed/src/SceneDemo.h

@@ -35,11 +35,12 @@
 // Constants
 const int SHADOWMAP_WIDTH = 2048;
 const int SHADOWMAP_HEIGHT = 2048;
+const float MOUSE_MOVE_BODY_FORCE = 100000.0f;
 
 // Class SceneDemo
 // Abstract class that represents a 3D scene for the ReactPhysics3D examples.
 // This scene has a single light source with shadow mapping.
-class SceneDemo : public Scene {
+class SceneDemo : public Scene, rp3d::RaycastCallback {
 
     protected:
 
@@ -121,6 +122,15 @@ class SceneDemo : public Scene {
         /// True if we need to step the physics simulation each frame
         bool mIsPhysicsWorldSimulated;
 
+        /// True if the user is currently moving a body with the mouse
+        bool mIsMovingBody;
+
+        /// Local-space point on the body use to move it with the mouse
+        rp3d::Vector3 mMovingBodyLocalPoint;
+
+        /// Pointer to the body that is currently moved with the mouse by the user
+        rp3d::RigidBody* mMovingBody;
+
         // -------------------- Methods -------------------- //
 
         /// Create the Shadow map FBO and texture
@@ -150,6 +160,9 @@ class SceneDemo : public Scene {
         /// Remove all contact points
         void removeAllVisualContactPoints();
 
+        /// Called when the user is moving a body with the mouse
+        void moveBodyWithMouse(double mousePosX, double mousePosY);
+
     public:
 
         // -------------------- Methods -------------------- //
@@ -181,6 +194,16 @@ class SceneDemo : public Scene {
 
         /// Enable/disable debug rendering
         virtual void setIsDebugRendererEnabled(bool isEnabled) override;
+
+        /// Called when a mouse button event occurs
+        virtual bool mouseButtonEvent(int button, bool down, int mods, double mousePosX, double mousePosY) override;
+
+        /// Called when a mouse motion event occurs
+        virtual bool mouseMotionEvent(double xMouse, double yMouse, int leftButtonState,
+                                      int rightButtonState, int middleButtonState, int altKeyState) override;
+
+        /// Called when a raycast hit occurs (used to move a body with the mouse)
+        virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override;
 };
 
 // Enabled/Disable the shadow mapping

testbed/src/TestbedApplication.cpp

@@ -110,7 +110,7 @@ void TestbedApplication::createScenes() {
     mScenes.push_back(cubeStackScene);
 
     // Joints scene
-    JointsScene* jointsScene = new JointsScene("Joints", mEngineSettings);
+    JointsScene* jointsScene = new JointsScene("HingeJoint - Bridge", mEngineSettings);
     mScenes.push_back(jointsScene);
 
     // Collision shapes scene
@@ -356,6 +356,19 @@ bool TestbedApplication::keyboard_event(int key, int scancode, int action, int m
         return true;
     }
 
+    // Close application on escape key
+    if (key == GLFW_KEY_P && action == GLFW_PRESS) {
+
+        if (mTimer.isRunning()) {
+            pauseSimulation();
+        }
+        else {
+           playSimulation();
+        }
+
+        return true;
+    }
+
     return mCurrentScene->keyboardEvent(key, scancode, action, modifiers);
 }