/********************************************************************************
* 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)
: SceneDemo(name, SCENE_RADIUS) {
std::string meshFolderPath("meshes/");
// 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, -9.81, 0);
// Create the dynamics world for the physics simulation
mDynamicsWorld = new rp3d::DynamicsWorld(gravity);
float radius = 3.0f;
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
100 + i * (DUMBBELL_HEIGHT + 0.3f),
radius * sin(angle));
// Create a convex mesh and a corresponding rigid in the dynamics world
Dumbbell* dumbbell = new Dumbbell(position, mDynamicsWorld, meshFolderPath);
// Set the box color
dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
dumbbell->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.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++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
60 + i * (BOX_SIZE.y + 0.8f),
radius * sin(angle));
// Create a sphere and a corresponding rigid in the dynamics world
Box* box = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld, mMeshFolderPath);
// Set the box color
box->setColor(mDemoColors[i % mNbDemoColors]);
box->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->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++) {
// Position
float angle = i * 35.0f;
openglframework::Vector3 position(radius * cos(angle),
50 + i * (SPHERE_RADIUS + 0.8f),
radius * sin(angle));
// Create a sphere and a corresponding rigid in the dynamics world
Sphere* sphere = new Sphere(SPHERE_RADIUS, position , BOX_MASS, mDynamicsWorld,
meshFolderPath);
// Add some rolling resistance
sphere->getRigidBody()->getMaterial().setRollingResistance(0.08);
// Set the box color
sphere->setColor(mDemoColors[i % mNbDemoColors]);
sphere->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->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++) {
// Position
float angle = i * 45.0f;
openglframework::Vector3 position(radius * cos(angle),
15 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Create a cylinder and a corresponding rigid in the dynamics world
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position ,
CAPSULE_MASS, mDynamicsWorld, meshFolderPath);
capsule->getRigidBody()->getMaterial().setRollingResistance(0.08);
// Set the box color
capsule->setColor(mDemoColors[i % mNbDemoColors]);
capsule->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->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++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
5 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Create a convex mesh and a corresponding rigid in the dynamics world
ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld, meshFolderPath + "convexmesh.obj");
// Set the box color
mesh->setColor(mDemoColors[i % mNbDemoColors]);
mesh->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->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 ---------
openglframework::Vector3 floorPosition(0, 0, 0);
mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld, mMeshFolderPath);
mPhysicsObjects.push_back(mFloor);
// Set the box color
mFloor->setColor(mGreyColorDemo);
mFloor->setSleepingColor(mGreyColorDemo);
// 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->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// ---------- Create the triangular mesh ---------- //
/*
// Position
openglframework::Vector3 position(0, 0, 0);
rp3d::decimal mass = 1.0;
// Create a convex mesh and a corresponding rigid in the dynamics world
mConcaveMesh = new ConcaveMesh(position, mass, mDynamicsWorld, meshFolderPath);
// Set the mesh as beeing static
mConcaveMesh->getRigidBody()->setType(rp3d::STATIC);
// Set the box color
mConcaveMesh->setColor(mDemoColors[0]);
mConcaveMesh->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
material.setFrictionCoefficient(0.1);
*/
// 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
CollisionShapesScene::~CollisionShapesScene() {
// Destroy all the physics objects of the scene
for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the object
delete (*it);
}
// Destroy the dynamics world
delete mDynamicsWorld;
}
// Update the physics world (take a simulation step)
void CollisionShapesScene::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);
}
/// Reset the scene
void CollisionShapesScene::reset() {
float radius = 3.0f;
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
100 + i * (DUMBBELL_HEIGHT + 0.3f),
radius * sin(angle));
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Reset the transform
mDumbbells[i]->setTransform(transform);
}
// Create all the boxes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
60 + i * (BOX_SIZE.y + 0.8f),
radius * sin(angle));
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Reset the transform
mBoxes[i]->setTransform(transform);
}
// Create all the spheres of the scene
for (int i=0; i<NB_SPHERES; i++) {
// Position
float angle = i * 35.0f;
openglframework::Vector3 position(radius * cos(angle),
50 + i * (SPHERE_RADIUS + 0.8f),
radius * sin(angle));
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Reset the transform
mSpheres[i]->setTransform(transform);
}
// Create all the capsules of the scene
for (int i=0; i<NB_CAPSULES; i++) {
// Position
float angle = i * 45.0f;
openglframework::Vector3 position(radius * cos(angle),
15 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Reset the transform
mCapsules[i]->setTransform(transform);
}
// Create all the convex meshes of the scene
for (int i=0; i<NB_MESHES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
5 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Reset the transform
mConvexMeshes[i]->setTransform(transform);
}
}