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Add fixed joint scene to the testbed application

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This commit is contained in:
Daniel Chappuis 2021-02-24 23:29:54 +01:00
parent 4c0e629e9b
commit f600e6b678
4 changed files with 237 additions and 0 deletions
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2
testbed/CMakeLists.txt
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@ -151,6 +151,8 @@ set(SCENES_SOURCES
scenes/boxtower/BoxTowerScene.cpp
scenes/bridge/BridgeScene.h
scenes/bridge/BridgeScene.cpp
scenes/fixedjoint/FixedJointScene.h
scenes/fixedjoint/FixedJointScene.cpp
)
# Create the executable

149
testbed/scenes/fixedjoint/FixedJointScene.cpp Normal file
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@ -0,0 +1,149 @@
/********************************************************************************
* 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 "FixedJointScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace fixedjointscene;
// Constructor
FixedJointScene::FixedJointScene(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 fixed joint
createFixedJoint();
// 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
FixedJointScene::~FixedJointScene() {
// Destroy the joints
mPhysicsWorld->destroyJoint(mFixedJoint);
// 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 FixedJointScene::reset() {
SceneDemo::reset();
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 8, 4), rp3d::Quaternion::identity()));
}
/// Create the fixed joint
void FixedJointScene::createFixedJoint() {
// --------------- Create the first box --------------- //
// Position of the box
rp3d::Vector3 positionBox1(0, 4, 0);
// Create a box and a corresponding rigid in the physics world
openglframework::Vector3 boxDimension(4, 4, 4);
mBox1 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox1->setTransform(rp3d::Transform(positionBox1, rp3d::Quaternion::identity()));
mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Set the box color
mBox1->setColor(mObjectColorDemo);
mBox1->setSleepingColor(mSleepingColorDemo);
mPhysicsObjects.push_back(mBox1);
// --------------- Create the second box --------------- //
// Position of the box
rp3d::Vector3 positionBox2(4, 8, 4);
// Create a box and a corresponding rigid in the physics world
mBox2 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox2->setTransform(rp3d::Transform(positionBox2, rp3d::Quaternion::identity()));
// Set the box color
mBox2->setColor(mObjectColorDemo);
mBox2->setSleepingColor(mSleepingColorDemo);
mPhysicsObjects.push_back(mBox2);
// --------------- Create the fixed joint --------------- //
// Create the joint info object
rp3d::RigidBody* body1 = mBox1->getRigidBody();
rp3d::RigidBody* body2 = mBox2->getRigidBody();
const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
rp3d::FixedJointInfo jointInfo1(body1, body2, anchorPointWorldSpace1);
jointInfo1.isCollisionEnabled = false;
// Create the joint in the physics world
mFixedJoint = dynamic_cast<rp3d::FixedJoint*>(mPhysicsWorld->createJoint(jointInfo1));
}

81
testbed/scenes/fixedjoint/FixedJointScene.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 FIXED_JOINT_SCENE_H
#define FIXED_JOINT_SCENE_H
// Libraries
#include "openglframework.h"
#include <reactphysics3d/reactphysics3d.h>
#include "Box.h"
#include "SceneDemo.h"
namespace fixedjointscene {
// 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 FixedJointScene
class FixedJointScene : public SceneDemo {
protected :
// -------------------- Attributes -------------------- //
/// First box
Box* mBox1;
/// Second box
Box* mBox2;
/// Fixed joint
rp3d::FixedJoint* mFixedJoint;
// -------------------- Methods -------------------- //
/// Create the fixed joint
void createFixedJoint();
public:
// -------------------- Methods -------------------- //
/// Constructor
FixedJointScene(const std::string& name, EngineSettings& settings);
/// Destructor
virtual ~FixedJointScene() override ;
/// Reset the scene
virtual void reset() override;
};
}
#endif

5
testbed/src/TestbedApplication.cpp
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@ -43,6 +43,7 @@
#include "ballandsocketjointschain/BallAndSocketJointsChainScene.h"
#include "hingejointschain/HingeJointsChainScene.h"
#include "bridge/BridgeScene.h"
#include "fixedjoint/FixedJointScene.h"
using namespace openglframework;
using namespace jointsscene;
@ -59,6 +60,7 @@ using namespace ballandsocketjointsnetscene;
using namespace ballandsocketjointschainscene;
using namespace hingejointschainscene;
using namespace bridgescene;
using namespace fixedjointscene;
// Initialization of static variables
const float TestbedApplication::SCROLL_SENSITIVITY = 0.08f;
@ -177,6 +179,9 @@ void TestbedApplication::createScenes() {
BridgeScene* bridgeScene = new BridgeScene("Bridge", mEngineSettings);
mScenes.push_back(bridgeScene);
// Fixed joint scene
FixedJointScene* fixedJointScene = new FixedJointScene("Fixed joint", mEngineSettings);
mScenes.push_back(fixedJointScene);
assert(mScenes.size() > 0);
const int firstSceneIndex = 0;