/******************************************************************************** * 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; isetColor(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); } // Create all the boxes of the scene for (int i=0; isetColor(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); } // Create all the spheres of the scene for (int i=0; igetRigidBody()->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); } // Create all the capsules of the scene for (int i=0; igetRigidBody()->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); } // Create all the convex meshes of the scene for (int i=0; isetColor(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); } // ---------- Create the floor --------- openglframework::Vector3 floorPosition(0, 0, 0); mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld, mMeshFolderPath); // 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 boxes 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 box delete (*it); } // Destroy all the sphere of the scene for (std::vector::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) { // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the sphere delete (*it); } // Destroy all the capsules of the scene for (std::vector::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) { // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the sphere delete (*it); } // Destroy all the convex meshes of the scene for (std::vector::iterator it = mConvexMeshes.begin(); it != mConvexMeshes.end(); ++it) { // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the convex mesh delete (*it); } // Destroy all the dumbbell of the scene for (std::vector::iterator it = mDumbbells.begin(); it != mDumbbells.end(); ++it) { // Destroy the corresponding rigid body from the dynamics world mDynamicsWorld->destroyRigidBody((*it)->getRigidBody()); // Destroy the convex mesh delete (*it); } // Destroy the rigid body of the floor mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody()); //mDynamicsWorld->destroyRigidBody(mConcaveMesh->getRigidBody()); // Destroy the floor delete mFloor; // Destroy the convex mesh //delete mConcaveMesh; // 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); } // Take a step for the simulation void CollisionShapesScene::update() { SceneDemo::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); } // Update the position and orientation of the sphere for (std::vector::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } // Update the position and orientation of the capsules for (std::vector::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } // Update the position and orientation of the convex meshes for (std::vector::iterator it = mConvexMeshes.begin(); it != mConvexMeshes.end(); ++it) { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } // Update the position and orientation of the dumbbells for (std::vector::iterator it = mDumbbells.begin(); it != mDumbbells.end(); ++it) { // Update the transform used for the rendering (*it)->updateTransform(mInterpolationFactor); } //mConcaveMesh->updateTransform(mInterpolationFactor); mFloor->updateTransform(mInterpolationFactor); } // Render the scene void CollisionShapesScene::renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Bind the shader shader.bind(); // Render all the boxes of the scene for (std::vector::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) { (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled); } // Render all the sphere of the scene for (std::vector::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) { (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled); } // Render all the capsules of the scene for (std::vector::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) { (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled); } // Render all the convex meshes of the scene for (std::vector::iterator it = mConvexMeshes.begin(); it != mConvexMeshes.end(); ++it) { (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled); } // Render all the dumbbells of the scene for (std::vector::iterator it = mDumbbells.begin(); it != mDumbbells.end(); ++it) { (*it)->render(shader, worldToCameraMatrix, mIsWireframeEnabled); } // Render the floor mFloor->render(shader, worldToCameraMatrix, mIsWireframeEnabled); //mConcaveMesh->render(shader, worldToCameraMatrix); // Unbind the shader shader.unbind(); } /// Reset the scene void CollisionShapesScene::reset() { float radius = 3.0f; for (int i=0; isetTransform(transform); } // Create all the boxes of the scene for (int i=0; isetTransform(transform); } // Create all the spheres of the scene for (int i=0; isetTransform(transform); } // Create all the capsules of the scene for (int i=0; isetTransform(transform); } // Create all the convex meshes of the scene for (int i=0; isetTransform(transform); } }