/********************************************************************************
* 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 "CollisionShapesScene.h"
// Namespaces
using namespace openglframework;
using namespace collisionshapesscene;
// Constructor
CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
: SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
std::string meshFolderPath("meshes/");
// Compute the radius and the center of the scene
openglframework::Vector3 center(0, 10, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
setInitZoom(1.5);
resetCameraToViewAll();
mWorldSettings.worldName = name;
}
// Destructor
CollisionShapesScene::~CollisionShapesScene() {
destroyPhysicsWorld();
}
// Create the physics world
void CollisionShapesScene::createPhysicsWorld() {
// Gravity vector in the physics world
mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z);
// Create the physics world for the physics simulation
mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings);
mPhysicsWorld->setEventListener(this);
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
// Create a convex mesh and a corresponding rigid in the physics world
Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
// Set the box color
dumbbell->setColor(mObjectColorDemo);
dumbbell->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
capsuleMaterial.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
sphere1Material.setBounciness(rp3d::decimal(0.2));
rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
sphere2Material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
mPhysicsObjects.push_back(dumbbell);
}
// Create all the boxes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Create a sphere and a corresponding rigid in the physics world
Box* box = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
// Set the box color
box->setColor(mObjectColorDemo);
box->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
mBoxes.push_back(box);
mPhysicsObjects.push_back(box);
}
// Create all the spheres of the scene
for (int i=0; i<NB_SPHERES; i++) {
// Create a sphere and a corresponding rigid in the physics world
Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
// Set the box color
sphere->setColor(mObjectColorDemo);
sphere->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
mSpheres.push_back(sphere);
mPhysicsObjects.push_back(sphere);
}
// Create all the capsules of the scene
for (int i=0; i<NB_CAPSULES; i++) {
// Create a cylinder and a corresponding rigid in the physics world
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT,
mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
// Set the box color
capsule->setColor(mObjectColorDemo);
capsule->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
mCapsules.push_back(capsule);
mPhysicsObjects.push_back(capsule);
}
// Create all the convex meshes of the scene
for (int i=0; i<NB_MESHES; i++) {
// Create a convex mesh and a corresponding rigid in the physics world
ConvexMesh* mesh = new ConvexMesh(true, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
// Set the box color
mesh->setColor(mObjectColorDemo);
mesh->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
mConvexMeshes.push_back(mesh);
mPhysicsObjects.push_back(mesh);
}
// ---------- Create the floor ---------
mFloor = new Box(true, FLOOR_SIZE, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mPhysicsObjects.push_back(mFloor);
// Set the box color
mFloor->setColor(mFloorColorDemo);
mFloor->setSleepingColor(mFloorColorDemo);
// The floor must be a static rigid body
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material = mFloor->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
}
// Initialize the bodies positions
void CollisionShapesScene::initBodiesPositions() {
const float radius = 3.0f;
for (uint i = 0; i<NB_COMPOUND_SHAPES; i++) {
// Position
float angle = i * 30.0f;
rp3d::Vector3 position(radius * std::cos(angle),
125 + i * (DUMBBELL_HEIGHT + 0.3f),
radius * std::sin(angle));
mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
}
// Create all the boxes of the scene
for (uint i = 0; i<NB_BOXES; i++) {
// Position
float angle = i * 30.0f;
rp3d::Vector3 position(radius * std::cos(angle),
85 + i * (BOX_SIZE.y + 0.8f),
radius * std::sin(angle));
mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
}
// Create all the spheres of the scene
for (uint i = 0; i<NB_SPHERES; i++) {
// Position
float angle = i * 35.0f;
rp3d::Vector3 position(radius * std::cos(angle),
75 + i * (SPHERE_RADIUS + 0.8f),
radius * std::sin(angle));
mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
}
// Create all the capsules of the scene
for (uint i = 0; i<NB_CAPSULES; i++) {
// Position
float angle = i * 45.0f;
rp3d::Vector3 position(radius * std::cos(angle),
40 + i * (CAPSULE_HEIGHT + 0.3f),
radius * std::sin(angle));
mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
}
// Create all the convex meshes of the scene
for (uint i = 0; i<NB_MESHES; i++) {
// Position
float angle = i * 30.0f;
rp3d::Vector3 position(radius * std::cos(angle),
30 + i * (CAPSULE_HEIGHT + 0.3f),
radius * std::sin(angle));
mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
}
// ---------- Create the triangular mesh ---------- //
mFloor->setTransform(rp3d::Transform::identity());
}
// Destroy the physics world
void CollisionShapesScene::destroyPhysicsWorld() {
if (mPhysicsWorld != nullptr) {
// Destroy all the physics objects of the scene
for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
// Destroy the object
delete (*it);
}
mBoxes.clear();
mSpheres.clear();
mCapsules.clear();
mConvexMeshes.clear();
mDumbbells.clear();
// Destroy the physics world
mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
mPhysicsWorld = nullptr;
mPhysicsObjects.clear();
}
}
/// Reset the scene
void CollisionShapesScene::reset() {
SceneDemo::reset();
destroyPhysicsWorld();
createPhysicsWorld();
initBodiesPositions();
}