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Add slider joint scene in testbed application

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This commit is contained in:
Daniel Chappuis 2021-03-10 22:51:52 +01:00
parent 80920d7f63
commit ef9ac01e52
4 changed files with 246 additions and 0 deletions

2
testbed/CMakeLists.txt
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@ -157,6 +157,8 @@ set(SCENES_SOURCES
scenes/ballandsocketjoint/BallAndSocketJointScene.cpp
scenes/hingejoint/HingeJointScene.h
scenes/hingejoint/HingeJointScene.cpp
scenes/sliderjoint/SliderJointScene.h
scenes/sliderjoint/SliderJointScene.cpp
)
# Create the executable

160
testbed/scenes/sliderjoint/SliderJointScene.cpp Normal file
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@ -0,0 +1,160 @@
/********************************************************************************
* 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 "SliderJointScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace sliderjointscene;
// Constructor
SliderJointScene::SliderJointScene(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 Slider joint
createSliderJoint();
// 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
SliderJointScene::~SliderJointScene() {
// 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 SliderJointScene::reset() {
SceneDemo::reset();
rp3d::Transform transform1(rp3d::Vector3(0,4,0), rp3d::Quaternion::identity());
mBox1->setTransform(transform1);
rp3d::Transform transform2(rp3d::Vector3(0,0,0), rp3d::Quaternion::identity());
mBox2->setTransform(transform2);
}
/// Create the boxes and joint for the Slider joint example
void SliderJointScene::createSliderJoint() {
// --------------- Create the first box --------------- //
// Create a box and a corresponding rigid in the physics world
openglframework::Vector3 box1Dimension(2, 4, 2);
mBox1 = new Box(true, box1Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
// Set the box color
mBox1->setColor(mObjectColorDemo);
mBox1->setSleepingColor(mSleepingColorDemo);
// The fist box cannot move
mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material1 = mBox1->getCollider()->getMaterial();
material1.setBounciness(0.4f);
mPhysicsObjects.push_back(mBox1);
// --------------- Create the second box --------------- //
// Create a box and a corresponding rigid in the physics world
openglframework::Vector3 box2Dimension(2, 4, 2);
mBox2 = new Box(true, box2Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()));
// Set the box color
mBox2->setColor(mObjectColorDemo);
mBox2->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material2 = mBox2->getCollider()->getMaterial();
material2.setBounciness(0.4f);
mPhysicsObjects.push_back(mBox2);
// --------------- Create the joint --------------- //
// Create the joint info object
rp3d::RigidBody* body1 = mBox1->getRigidBody();
rp3d::RigidBody* body2 = mBox2->getRigidBody();
const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
const rp3d::Vector3 anchorPointWorldSpace = rp3d::decimal(0.5) * (body2Position + body1Position);
const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
rp3d::decimal(-1.7), rp3d::decimal(1.7));
jointInfo.isCollisionEnabled = false;
// Create the joint in the physics world
mJoint = dynamic_cast<rp3d::SliderJoint*>(mPhysicsWorld->createJoint(jointInfo));
}

78
testbed/scenes/sliderjoint/SliderJointScene.h Normal file
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@ -0,0 +1,78 @@
/********************************************************************************
* 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 SLIDER_JOINT_SCENE_H
#define SLIDER_JOINT_SCENE_H
// Libraries
#include "openglframework.h"
#include <reactphysics3d/reactphysics3d.h>
#include "Box.h"
#include "SceneDemo.h"
namespace sliderjointscene {
// Constants
const float SCENE_RADIUS = 30.0f;
const openglframework::Vector3 BOX_SIZE(2, 2, 2); // Box dimensions in meters
// Class SliderJointScene
class SliderJointScene : public SceneDemo {
protected :
// -------------------- Attributes -------------------- //
/// First box
Box* mBox1;
/// Second box
Box* mBox2;
/// Slider joint
rp3d::SliderJoint* mJoint;
// -------------------- Methods -------------------- //
/// Create a slider joint
void createSliderJoint();
public:
// -------------------- Methods -------------------- //
/// Constructor
SliderJointScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~SliderJointScene() override ;
/// Reset the scene
virtual void reset() override;
};
}
#endif

6
testbed/src/TestbedApplication.cpp
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@ -46,6 +46,7 @@
#include "fixedjoint/FixedJointScene.h"
#include "ballandsocketjoint/BallAndSocketJointScene.h"
#include "hingejoint/HingeJointScene.h"
#include "sliderjoint/SliderJointScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -65,6 +66,7 @@ using namespace bridgescene;
using namespace fixedjointscene;
using namespace ballandsocketjointscene;
using namespace hingejointscene;
using namespace sliderjointscene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -195,6 +197,10 @@ void TestbedApplication::createScenes() {
HingeJointScene* hingeJointScene = new HingeJointScene("Hinge joint", mEngineSettings);
mScenes.push_back(hingeJointScene);
// Slider joint scene
SliderJointScene* sliderJointScene = new SliderJointScene("Slider joint", mEngineSettings);
mScenes.push_back(sliderJointScene);
assert(mScenes.size() > 0);
const int firstSceneIndex = 0;