/********************************************************************************
* 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 "BallAndSocketJointsNetScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace ballandsocketjointsnetscene;
// Constructor
BallAndSocketJointsNetScene::BallAndSocketJointsNetScene(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, 5, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
setInitZoom(1.3);
resetCameraToViewAll();
// Gravity vector in the physics world
rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
rp3d::PhysicsWorld::WorldSettings worldSettings;
worldSettings.worldName = name;
// Create the physics world for the physics simulation
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
physicsWorld->setEventListener(this);
mPhysicsWorld = physicsWorld;
// Create all the spheres of the scene
for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
// Create a sphere and a corresponding rigid in the physics world
Sphere* sphere = new Sphere(true, SPHERE_RADIUS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
// Set the sphere 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(0.0));
// Add the sphere the list of sphere in the scene
mNetSpheres[i][j] = sphere;
mPhysicsObjects.push_back(sphere);
}
}
// Set the position of the spheres before the joints creation
reset();
// Create the Ball-and-Socket joints
createJoints();
// Create the main sphere
mMainSphere = new Sphere(true, 7, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
mMainSphere->setColor(mObjectColorDemo);
mMainSphere->setSleepingColor(mSleepingColorDemo);
rp3d::Vector3 initPosition(0, 0, 0);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
mMainSphere->setTransform(transform);
mMainSphere->getRigidBody()->setType(rp3d::BodyType::STATIC);
rp3d::Material& material = mMainSphere->getCollider()->getMaterial();
material.setBounciness(rp3d::decimal(0.0));
mPhysicsObjects.push_back(mMainSphere);
// Get the physics engine parameters
mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
}
// Destructor
BallAndSocketJointsNetScene::~BallAndSocketJointsNetScene() {
// Destroy the joints
for (uint i=0; i < mBallAndSocketJoints.size(); i++) {
mPhysicsWorld->destroyJoint(mBallAndSocketJoints[i]);
}
// Destroy all the rigid bodies of the scene
for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
mPhysicsWorld->destroyRigidBody(mNetSpheres[i][j]->getRigidBody());
}
}
mPhysicsWorld->destroyRigidBody(mMainSphere->getRigidBody());
// Destroy the physics world
mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
}
// Create the joints
void BallAndSocketJointsNetScene::createJoints() {
for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
if (i > 0) {
// Create the joint info object
rp3d::RigidBody* body1 = mNetSpheres[i-1][j]->getRigidBody();
rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody();
rp3d::Vector3 body2Position = body2->getTransform().getPosition();
const rp3d::Vector3 anchorPointWorldSpace = body2Position;
rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
jointInfo.isCollisionEnabled = false;
rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>( mPhysicsWorld->createJoint(jointInfo));
mBallAndSocketJoints.push_back(joint);
}
if (j > 0) {
// Create the joint info object
rp3d::RigidBody* body1 = mNetSpheres[i][j-1]->getRigidBody();
rp3d::RigidBody* body2 = mNetSpheres[i][j]->getRigidBody();
rp3d::Vector3 body2Position = body2->getTransform().getPosition();
const rp3d::Vector3 anchorPointWorldSpace = body2Position;
rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
jointInfo.isCollisionEnabled = false;
rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>( mPhysicsWorld->createJoint(jointInfo));
mBallAndSocketJoints.push_back(joint);
}
}
}
}
// Reset the scene
void BallAndSocketJointsNetScene::reset() {
SceneDemo::reset();
const float space = 0.5f;
const float startX = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space));
const float startZ = -(NB_ROWS_NET_SPHERES / 2.0f * (2.0 * SPHERE_RADIUS + space));
const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
for (int i=0; i<NB_ROWS_NET_SPHERES; i++) {
for (int j=0; j<NB_ROWS_NET_SPHERES; j++) {
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(startX + i * (2 * SPHERE_RADIUS + space), 12, startZ + j * (2 * SPHERE_RADIUS + space));
rp3d::Transform transform(initPosition, initOrientation);
// Create a box and a corresponding rigid in the physics world
mNetSpheres[i][j]->setTransform(transform);
}
}
}