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Modify the falling cubes example to make it work with the new version of reactphysis3d

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This commit is contained in:
Daniel Chappuis 2013-03-17 16:45:48 +01:00
parent 96a0680a67
commit f94b33bace
7 changed files with 407 additions and 341 deletions
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87
examples/fallingbox/Box.cpp
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@ -1,87 +0,0 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010 Daniel Chappuis *
*********************************************************************************
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy *
* of this software and associated documentation files (the "Software"), to deal *
* in the Software without restriction, including without limitation the rights *
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
* copies of the Software, and to permit persons to whom the Software is *
* furnished to do so, subject to the following conditions: *
* *
* The above copyright notice and this permission notice shall be included in *
* all copies or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
* THE SOFTWARE. *
********************************************************************************/
// Libraries
#include "Box.h"
#include <GL/freeglut.h>
// Use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
Box::Box(double size, double mass, Vector3D& position, rp3d::Quaternion& orientation) {
this->size = size;
// Local inertia tensor of a cube
rp3d::Matrix3x3 inertiaTensor(1.0/12.0*mass*2*size*size, 0.0, 0.0,
0.0, 1.0/12.0*mass*2*size*size, 0.0,
0.0, 0.0, 1.0/12.0*mass*2*size*size);
// Creation of the bounding volume for the collision
// The bounding volume is an Oriented Bounding Box (OBB)
// The first three arguments are the three axis direction of the OBB (here the x,y and z axis)
// and the last three arguments are the corresponding half extents of the OBB in those direction.
// Here the rigid body is a cube and therefore the three half extents are the half of the size
// of the cube in all OBB directions.
rp3d::OBB* boundingVolume = new OBB(position, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0), size/2.0, size/2.0, size/2);
// Create the rigid body that will be used to simulate the physics of the box
rigidBody = new RigidBody(position, orientation, mass, inertiaTensor, boundingVolume);
}
// Destructor
Box::~Box() {
// Delete the physics body
delete rigidBody;
}
// Draw the box
void Box::draw() const {
// Get the current position of the rigid body (for animation you should use the
// getInterpolatedPosition() function instead of getPosition()
Vector3D position = rigidBody->getInterpolatedPosition();
// Get the current orientation of the rigid body (represented by a quaternion)
Quaternion orientation = rigidBody->getInterpolatedOrientation();
// Use the returned quaternion to get the rotation axis and rotation angle
Vector3D orientationAxis;
double orientationAngle;
orientation.getRotationAngleAxis(orientationAngle, orientationAxis);
glPushMatrix();
// Translation of the box to its position
glTranslatef(position.getValue(0), position.getValue(1), position.getValue(2));
// Rotation of the box according to its orientation
glRotatef(orientationAngle/PI*180.0, orientationAxis.getX(), orientationAxis.getY(), orientationAxis.getZ());
// Draw the cube
glutSolidCube(size);
glPopMatrix();
}

52
examples/fallingbox/Box.h
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@ -1,52 +0,0 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010 Daniel Chappuis *
*********************************************************************************
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy *
* of this software and associated documentation files (the "Software"), to deal *
* in the Software without restriction, including without limitation the rights *
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
* copies of the Software, and to permit persons to whom the Software is *
* furnished to do so, subject to the following conditions: *
* *
* The above copyright notice and this permission notice shall be included in *
* all copies or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
* THE SOFTWARE. *
********************************************************************************/
// Libraries
#include <reactphysics3d.h>
#ifndef BOX_H
#define BOX_H
class Box {
private:
double size;
double mass;
rp3d::RigidBody* rigidBody;
public:
Box(double size, double mass, rp3d::Vector3D& position, rp3d::Quaternion& orientation); // Constructor
~Box(); // Destructor
rp3d::RigidBody* getRigidBodyPointer() const; // Return the pointer to the rigid body
void draw() const; // Draw the box
};
// Return the pointer to the rigid body
inline rp3d::RigidBody* Box::getRigidBodyPointer() const {
return rigidBody;
}
#endif

194
examples/fallingbox/main.cpp
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@ -1,194 +0,0 @@
/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010 Daniel Chappuis *
*********************************************************************************
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy *
* of this software and associated documentation files (the "Software"), to deal *
* in the Software without restriction, including without limitation the rights *
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
* copies of the Software, and to permit persons to whom the Software is *
* furnished to do so, subject to the following conditions: *
* *
* The above copyright notice and this permission notice shall be included in *
* all copies or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
* THE SOFTWARE. *
********************************************************************************/
// Libraries
#include <stdlib.h>
#include <GL/freeglut.h>
#include <GL/glu.h>
#include "Box.h"
#include <reactphysics3d.h>
// Prototypes
void init();
void display();
void simulate();
void clean();
void reshape(int w, int h);
// Use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constants
const double FLOOR_SIZE = 20;
const double FLOOR_THICKNESS = 0.2;
// Global variables
PhysicsWorld* physicsWorld; // Physics world
PhysicsEngine* physicsEngine; // Physics engine
Box* boxes[2]; // Falling boxes
RigidBody* floorRigidBody; // Rigid body corresponding the floor
// Simulation function
void simulate() {
// Update the physics simulation
physicsEngine->update();
// Display the scene
display();
}
// Main function
int main(int argc, char** argv) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(600, 600);
glutInitWindowPosition(100, 100);
glutCreateWindow("ReactPhysics3D Example - Falling Cubes");
init();
glutIdleFunc(simulate);
glutReshapeFunc(reshape);
glutMainLoop();
physicsEngine->stop(); // Stop the physics simulation
clean();
return 0;
}
// Initialization function
void init() {
glClearColor(0.0, 0.0, 0.0, 0.0);
// Light
glShadeModel(GL_SMOOTH);
GLfloat light_position[] = {5.0f, 5.0f, 5.0f, 1.0f};
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
// Gravity vector of the physics world
Vector3D gravity(0.0, -9.81, 0.0);
// Create the physics world
physicsWorld = new PhysicsWorld(gravity);
// Create the physics engine with the previous physis world and a timestep
// of 0.005 seconds
physicsEngine = new PhysicsEngine(physicsWorld, 0.005);
// Create a falling box with a size of 1m and weight of 3kg
Vector3D position1(-2.0, 15.0, 0.0); // Position of the box
Quaternion orientation(0.2, 1.0, 0.6, 0.0); // Orientation of the box
boxes[0] = new Box(1.0, 3.0, position1, orientation); // Creation of the box
boxes[0]->getRigidBodyPointer()->setRestitution(0.5); // How bouncy is the rigid body
physicsWorld->addBody(boxes[0]->getRigidBodyPointer()); // Add the rigid body created in the constructor
// of the Box to the physics world
// Create a second falling box with a size of 2m and weight of 4.5kg
Vector3D position2 = Vector3D(2.0, 10.0, 0.0); // Position of the box
orientation = Quaternion(1.0, 1.0, 0.5, 0.0); // Orientation of the box
boxes[1] = new Box(2.0, 4.5, position2, orientation); // Creation of the box
boxes[1]->getRigidBodyPointer()->setRestitution(0.5); // How bouncy is the rigid body
physicsWorld->addBody(boxes[1]->getRigidBodyPointer()); // Add the rigid body created in the constructor
// of the Box to the physics world
// Create the rigid body corresponding to the floor
Vector3D positionFloor = Vector3D(0.0, 0.0, 0.0);
orientation = Quaternion(0.0, 1.0, 0.0, 0.0);
double mass = 100.0;
// Local inertia tensor of a cube
rp3d::Matrix3x3 inertiaTensor(1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE, 0.0, 0.0,
0.0, 1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE, 0.0,
0.0, 0.0, 1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE);
// Creation of the bounding volume for the collision
// The bounding volume is an Oriented Bounding Box (OBB)
// The first three arguments are the three axis direction of the OBB (here the x,y and z axis)
// and the last three arguments are the corresponding half extents of the OBB in those direction.
// Here the rigid body is a cube and therefore the three half extents are the half of the size
// of the cube in all OBB directions.
rp3d::OBB* boundingVolume = new OBB(positionFloor, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0), FLOOR_SIZE, FLOOR_THICKNESS, FLOOR_SIZE);
// Create the rigid body that will be used to simulate the physics of the box
floorRigidBody = new RigidBody(positionFloor, orientation, mass, inertiaTensor, boundingVolume);
// The floor is a rigid body that cannot move
floorRigidBody->setIsMotionEnabled(false);
// Set the bouncing restitution factor of the floor
floorRigidBody->setRestitution(0.5);
// Add the floor rigid body to the physics world
physicsWorld->addBody(floorRigidBody);
// Start the physics simulation
physicsEngine->start();
}
// Display function
void display() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Display each falling box of the scene
for (int i=0; i<2; i++) {
boxes[i]->draw();
}
// Display the plane for the floor
glBegin(GL_POLYGON);
glNormal3f(0.0, 1.0, 0.0);
glVertex3f(-FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glVertex3f(-FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glEnd();
glutSwapBuffers();
}
// Reshape function
void reshape(int w, int h) {
float ratio = ((float)w / h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glViewport(0, 0, w, h);
gluPerspective(45, ratio,1,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(20.0, 5.0, 20.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
}
// Clean the memory allocation
void clean() {
delete physicsEngine;
delete physicsWorld;
delete boxes[0];
delete boxes[1];
delete floorRigidBody;
}

63
examples/fallingcubes/Box.cpp Normal file
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@ -0,0 +1,63 @@
/********************************************************************************
* 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 "Box.h"
// Use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constructor
Box::Box(double size, RigidBody* rigidBody) {
mSize = size;
mRigidBody = rigidBody;
}
// Destructor
Box::~Box() {
}
// Draw the box
void Box::draw() const {
// Get the interpolated transform of the rigid body
Transform transform = mRigidBody->getInterpolatedTransform();
// Get the corresponding OpenGL matrix
float openGLMatrix[16];
transform.getOpenGLMatrix(openGLMatrix);
glPushMatrix();
// Multiply by the OpenGL transform matrix
glMultMatrixf(openGLMatrix);
// Draw the cube
glutSolidCube(mSize);
glPopMatrix();
}

82
examples/fallingcubes/Box.h Normal file
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@ -0,0 +1,82 @@
/********************************************************************************
* 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 <reactphysics3d.h>
#ifdef APPLE_OS
#include <OpenGL/glu.h>
#else
#include <GL/glu.h>
#endif
#ifdef USE_FREEGLUT
#ifdef APPLE_OS
#include <OpenGL/freeglut.h>
#else
#include <GL/freeglut.h>
#endif
#else
#ifdef APPLE_OS
#include <GLUT/glut.h>
#else
#include <GL/glut.h>
#endif
#endif
#ifndef BOX_H
#define BOX_H
/// This class represents a cube box
class Box {
private:
/// Size of the box
double mSize;
/// Pointer to the rigid body associated to the box
rp3d::RigidBody* mRigidBody;
public:
/// Constructor
Box(double size, rp3d::RigidBody* rigidBody);
/// Destructor
~Box();
/// Return the pointer to the rigid body
rp3d::RigidBody* getRigidBodyPointer() const;
/// Draw the box
void draw() const;
};
// Return the pointer to the rigid body
inline rp3d::RigidBody* Box::getRigidBodyPointer() const {
return mRigidBody;
}
#endif

22
examples/fallingbox/CMakeLists.txt → examples/fallingcubes/CMakeLists.txt
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@ -4,14 +4,9 @@ cmake_minimum_required(VERSION 2.6)
# Project configuration # Project configuration
PROJECT(FallingCubes) PROJECT(FallingCubes)
# Headers
INCLUDE_DIRECTORIES(${REACTPHYSICS3D_SOURCE_DIR}/src)
# Find Glut or Freeglut # Find Glut or Freeglut
if(WIN32 OR APPLE) FIND_PACKAGE(GLUT)
# Find the necessary libraries if (NOT GLUT_FOUND)
FIND_PACKAGE(GLUT)
else()
# Find the Freeglut library # Find the Freeglut library
FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h
/usr/include/GL /usr/include/GL
@ -38,12 +33,23 @@ else()
MESSAGE("OpenGL not found") MESSAGE("OpenGL not found")
endif() endif()
# Headers
if(GLUT_FOUND)
INCLUDE_DIRECTORIES(${REACTPHYSICS3D_SOURCE_DIR}/src ${GLUT_INCLUDE_DIR})
elseif(FREEGLUT_FOUND)
INCLUDE_DIRECTORIES(${REACTPHYSICS3D_SOURCE_DIR}/src ${FREEGLUT_INCLUDE_DIRS})
endif()
# Definitions
if (FREEGLUT_FOUND)
add_definition(-DUSE_FREEGLUT)
endif()
# Create the example executable using the # Create the example executable using the
# compiled reactphysics3d static library # compiled reactphysics3d static library
ADD_EXECUTABLE(fallingcubes main.cpp Box.cpp Box.h) ADD_EXECUTABLE(fallingcubes main.cpp Box.cpp Box.h)
if(WIN32 OR APPLE) if(GLUT_FOUND)
TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${GLUT_LIBRARY} ${OPENGL_LIBRARY}) TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${GLUT_LIBRARY} ${OPENGL_LIBRARY})
elseif(FREEGLUT_FOUND) elseif(FREEGLUT_FOUND)
TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${FREEGLUT_LIBRARY} ${OPENGL_LIBRARY}) TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${FREEGLUT_LIBRARY} ${OPENGL_LIBRARY})

248
examples/fallingcubes/main.cpp Normal file
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@ -0,0 +1,248 @@
/********************************************************************************
* 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 <stdlib.h>
#include <reactphysics3d.h>
#include "Box.h"
// Prototypes
void init();
void display();
void simulate();
void clean();
void reshape(int w, int h);
// Use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constants
const double FLOOR_SIZE = 20;
const double FLOOR_THICKNESS = 0.02;
// Global variables
DynamicsWorld* dynamicsWorld; // Dynamics world
Box* boxes[2]; // Falling boxes
BoxShape* collisionShapeBox1; // Collision shape of the first box
BoxShape* collisionShapeBox2; // Collision shape of the second box
BoxShape* collisionShapeFloor; // Collision shape of the floor
RigidBody* floorRigidBody; // Rigid body corresponding the floor
// Simulation function
void simulate() {
// Update the physics simulation
dynamicsWorld->update();
// Display the scene
display();
}
// Main function
int main(int argc, char** argv) {
// Initialize GLUT
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(800, 600);
glutInitWindowPosition(100, 100);
glutCreateWindow("ReactPhysics3D Example - Falling Cubes");
init();
glutIdleFunc(simulate);
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutMainLoop();
// Stop the physics simulation
dynamicsWorld->stop();
clean();
return 0;
}
// Initialization function
void init() {
glClearColor(0.0, 0.0, 0.0, 0.0);
// Light
glShadeModel(GL_SMOOTH);
GLfloat light_position[] = {5.0f, 5.0f, 5.0f, 1.0f};
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
// Gravity vector of the physics world
Vector3 gravity(0.0, -9.81, 0.0);
// Timestep of the simulation
decimal timeStep = 1.0/60.0;
// Create the dynamics world
dynamicsWorld = new DynamicsWorld(gravity, timeStep);
// --- Create a falling box with a size of 1m and weight of 3kg --- //
float size = 1.0f;
// Initial position and orientation of the box
Vector3 positionBox1(-2.0f, 7.0f, 0.0f);
Quaternion orientationBox1(0.3, 1.0, 0.8, 0.0);
Transform initTransform(positionBox1, orientationBox1);
// Create a box collision shape for the box (used for collision detection)
collisionShapeBox1 = new BoxShape(Vector3(size/2.0f, size/2.0f, size/2.0f));
// Compute the inertia tensor of the box using the collision shape
Matrix3x3 inertiaTensorBox1;
float massBox1 = 3.0f;
collisionShapeBox1->computeLocalInertiaTensor(inertiaTensorBox1, massBox1);
// Create the rigid body associated with the box in the dynamics world
RigidBody* rigidBody = dynamicsWorld->createRigidBody(initTransform, massBox1,
inertiaTensorBox1, collisionShapeBox1);
// Set the contact velocity restitution factor of the rigid body
rigidBody->setRestitution(0.5f);
// Create the box object (used for display)
boxes[0] = new Box(size, rigidBody);
// --- Create a second falling box with a size of 1.5m and weight of 4.5kg --- //
size = 1.5;
// Initial position and orientation of the box
Vector3 positionBox2(2.0, 4.0, 0.0);
Quaternion orientationBox2(1.0, 1.0, 0.5, 0.0);
Transform initTransform2(positionBox2, orientationBox2);
// Create a box collision shape for the box (used for collision detection)
collisionShapeBox2 = new BoxShape(Vector3(size/2.0f, size/2.0f, size/2.0f));
// Compute the inertia tensor using the collision shape
Matrix3x3 inertiaTensorBox2;
float massBox2 = 4.5f;
collisionShapeBox2->computeLocalInertiaTensor(inertiaTensorBox2, massBox2);
// Create the rigid body associated with the box in the dynamcis world
RigidBody* rigidBody2 = dynamicsWorld->createRigidBody(initTransform2, massBox2,
inertiaTensorBox2, collisionShapeBox2);
// Set the contact velocity restitution factor of the rigid body
rigidBody2->setRestitution(0.5);
// Create the box object (used for display)
boxes[1] = new Box(size, rigidBody2);
// --- Create the rigid body corresponding to the floor --- //
// Initial position and orientation of the floor
Vector3 positionFloor(0.0, 0.0, 0.0);
Quaternion orientationFloor(0.0, 1.0, 0.0, 0.0);
Transform initTransformFloor(positionFloor, orientationFloor);
// Create a box collision shape for the floor (used for collision detection)
collisionShapeFloor = new BoxShape(Vector3(FLOOR_SIZE, FLOOR_THICKNESS, FLOOR_SIZE));
// Compute the inertia tensor of the floor using the collision shape
float massFloor = 100.0f;
rp3d::Matrix3x3 inertiaTensorFloor;
collisionShapeFloor->computeLocalInertiaTensor(inertiaTensorFloor, massFloor);
// Create the rigid body associated with the floor in the dynamcis world
floorRigidBody = dynamicsWorld->createRigidBody(initTransformFloor, massFloor,
inertiaTensorFloor, collisionShapeFloor);
// The floor is a rigid body that cannot move
floorRigidBody->setIsMotionEnabled(false);
// Set the contact velocity restitution factor of the floor
floorRigidBody->setRestitution(0.5);
// Start the dynamics simulation
dynamicsWorld->start();
}
// Display function
void display() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Display each falling box of the scene
for (int i=0; i<2; i++) {
boxes[i]->draw();
}
// Display the plane for the floor
glBegin(GL_POLYGON);
glNormal3f(0.0, 1.0, 0.0);
glVertex3f(-FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glVertex3f(-FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glEnd();
glutSwapBuffers();
}
// Reshape function
void reshape(int w, int h) {
float ratio = ((float)w / h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glViewport(0, 0, w, h);
gluPerspective(45, ratio,1,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(20.0, 4.0, 20.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
}
// Clean the memory allocation
void clean() {
// Destroy the rigid bodies from the dynamics world
dynamicsWorld->destroyRigidBody(boxes[0]->getRigidBodyPointer());
dynamicsWorld->destroyRigidBody(boxes[1]->getRigidBodyPointer());
dynamicsWorld->destroyRigidBody(floorRigidBody);
// Destroy the dynamics world
delete dynamicsWorld;
// Destroy the boxes
delete boxes[0];
delete boxes[1];
// Destroy the collision shapes
delete collisionShapeBox1;
delete collisionShapeBox2;
delete collisionShapeFloor;
}