/******************************************************************************** * 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 "CollisionDetectionScene.h" // Namespaces using namespace openglframework; using namespace collisiondetectionscene; // Constructor CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings) : SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), mContactManager(mPhongShader, mMeshFolderPath), mAreNormalsDisplayed(false) { mSelectedShapeIndex = 0; mIsContactPointsDisplayed = true; mIsWireframeEnabled = true; // Compute the radius and the center of the scene openglframework::Vector3 center(0, 0, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); // Create the dynamics world for the physics simulation mPhysicsWorld = new rp3d::CollisionWorld(); #ifdef IS_PROFILING_ACTIVE mPhysicsWorld->setProfilerName(name + "_profiler"); #endif // ---------- Sphere 1 ---------- // // Create a sphere and a corresponding collision body in the dynamics world mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere1); // Set the color mSphere1->setColor(mGreyColorDemo); mSphere1->setSleepingColor(mRedColorDemo); //mSphere1->setScaling(0.5f); mPhysicsObjects.push_back(mSphere1); // ---------- Sphere 2 ---------- // // Create a sphere and a corresponding collision body in the dynamics world mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mSphere2); // Set the color mSphere2->setColor(mGreyColorDemo); mSphere2->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mSphere2); // ---------- Capsule 1 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule1); // Set the color mCapsule1->setColor(mGreyColorDemo); mCapsule1->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mCapsule1); // ---------- Capsule 2 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mCapsule2); // Set the color mCapsule2->setColor(mGreyColorDemo); mCapsule2->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mCapsule2); // ---------- Concave Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj"); mAllShapes.push_back(mConcaveMesh); // Set the color mConcaveMesh->setColor(mGreyColorDemo); mConcaveMesh->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mConcaveMesh); // ---------- Box 1 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox1); // Set the color mBox1->setColor(mGreyColorDemo); mBox1->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mBox1); // ---------- Box 2 ---------- // // Create a cylinder and a corresponding collision body in the dynamics world mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath); mAllShapes.push_back(mBox2); // Set the color mBox2->setColor(mGreyColorDemo); mBox2->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mBox2); // ---------- Convex Mesh ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj"); mAllShapes.push_back(mConvexMesh); // Set the color mConvexMesh->setColor(mGreyColorDemo); mConvexMesh->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mConvexMesh); // ---------- Heightfield ---------- // // Create a convex mesh and a corresponding collision body in the dynamics world mHeightField = new HeightField(mPhysicsWorld); // Set the color mHeightField->setColor(mGreyColorDemo); mHeightField->setSleepingColor(mRedColorDemo); mPhysicsObjects.push_back(mHeightField); mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo); } // Reset the scene void CollisionDetectionScene::reset() { mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity())); mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity())); mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity())); mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity())); mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity())); mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity())); mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity())); mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity())); mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity())); } // Destructor CollisionDetectionScene::~CollisionDetectionScene() { // Destroy the box rigid body from the dynamics world //mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody()); //delete mBox; // Destroy the spheres mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody()); delete mSphere1; mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody()); delete mSphere2; mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody()); delete mCapsule1; mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody()); delete mCapsule2; mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody()); delete mBox1; mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody()); delete mBox2; mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); delete mConvexMesh; mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); delete mConcaveMesh; mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody()); delete mHeightField; mContactManager.resetPoints(); // Destroy the static data for the visual contact points VisualContactPoint::destroyStaticData(); // Destroy the collision world delete mPhysicsWorld; } // Take a step for the simulation void CollisionDetectionScene::update() { mContactManager.resetPoints(); mPhysicsWorld->testCollision(&mContactManager); SceneDemo::update(); } void CollisionDetectionScene::selectNextShape() { uint previousIndex = mSelectedShapeIndex; mSelectedShapeIndex++; if (mSelectedShapeIndex >= mAllShapes.size()) { mSelectedShapeIndex = 0; } mAllShapes[previousIndex]->setColor(mGreyColorDemo); mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo); } // Called when a keyboard event occurs bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) { // If the space key has been pressed if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { selectNextShape(); return true; } float stepDist = 0.2f; float stepAngle = 15 * (3.14f / 180.0f); if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_UP && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_Z && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_H && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist)); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_A && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_D && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_W && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_S && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_F && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } else if (key == GLFW_KEY_G && action == GLFW_PRESS) { rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform(); transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation()); mAllShapes[mSelectedShapeIndex]->setTransform(transform); } return false; }