/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2015 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 "CubesScene.h" // Namespaces using namespace openglframework; using namespace cubesscene; // Constructor CubesScene::CubesScene(const std::string& name) : SceneDemo(name, 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 dynamics world rp3d::Vector3 gravity(0, rp3d::decimal(-5.81), 0); // Time step for the physics simulation rp3d::decimal timeStep = 1.0f / 60.0f; // Create the dynamics world for the physics simulation mDynamicsWorld = new rp3d::DynamicsWorld(gravity); // Set the number of iterations of the constraint solver mDynamicsWorld->setNbIterationsVelocitySolver(15); float radius = 2.0f; // Create all the cubes of the scene for (int i=0; igetRigidBody()->getMaterial(); material.setBounciness(rp3d::decimal(0.4)); // Add the box the list of box in the scene mBoxes.push_back(cube); } // Create the floor openglframework::Vector3 floorPosition(0, 0, 0); mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld); // The floor must be a static rigid body mFloor->getRigidBody()->setType(rp3d::STATIC); // Change the material properties of the floor rigid body rp3d::Material& material = mFloor->getRigidBody()->getMaterial(); material.setBounciness(rp3d::decimal(0.3)); // Get the physics engine parameters mEngineSettings.isGravityEnabled = mDynamicsWorld->isGravityEnabled(); rp3d::Vector3 gravityVector = mDynamicsWorld->getGravity(); mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z); mEngineSettings.isSleepingEnabled = mDynamicsWorld->isSleepingEnabled(); mEngineSettings.sleepLinearVelocity = mDynamicsWorld->getSleepLinearVelocity(); mEngineSettings.sleepAngularVelocity = mDynamicsWorld->getSleepAngularVelocity(); mEngineSettings.nbPositionSolverIterations = mDynamicsWorld->getNbIterationsPositionSolver(); mEngineSettings.nbVelocitySolverIterations = mDynamicsWorld->getNbIterationsVelocitySolver(); mEngineSettings.timeBeforeSleep = mDynamicsWorld->getTimeBeforeSleep(); } // Destructor CubesScene::~CubesScene() { // Destroy the shader mPhongShader.destroy(); // Destroy all the cubes of the scene for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the cube delete (*it); } // Destroy the rigid body of the floor mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody()); // Destroy the floor delete mFloor; // Destroy the dynamics world delete mDynamicsWorld; } // Update the physics world (take a simulation step) void CubesScene::updatePhysics() { // Update the physics engine parameters mDynamicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled); rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z); mDynamicsWorld->setGravity(gravity); mDynamicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled); mDynamicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity); mDynamicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity); mDynamicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations); mDynamicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations); mDynamicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep); // Take a simulation step mDynamicsWorld->update(mEngineSettings.timeStep); } // Update the scene void CubesScene::update() { // Update the position and orientation of the boxes for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } mFloor->updateTransform(mInterpolationFactor); // Set the color of the awake/sleeping bodies for (uint i=0; igetRigidBody()->isSleeping()) { mBoxes[i]->setColor(Color(1, 0, 0, 1)); } else { mBoxes[i]->setColor(Color(0, 1, 0, 1)); } } } // Render the scene in a single pass void CubesScene::renderSinglePass(Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Bind the shader shader.bind(); // Render all the cubes of the scene for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { (*it)->render(shader, worldToCameraMatrix); } // Render the floor mFloor->render(shader, worldToCameraMatrix); // Unbind the shader shader.unbind(); } // Reset the scene void CubesScene::reset() { float radius = 2.0f; for (int i=0; iresetTransform(transform); } }