/******************************************************************************** * 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. * * * ********************************************************************************/ #ifndef COLLISION_SHAPES_SCENE_H #define COLLISION_SHAPES_SCENE_H // Libraries #include "openglframework.h" #include "reactphysics3d.h" #include "SceneDemo.h" #include "Sphere.h" #include "Box.h" #include "Cone.h" #include "Cylinder.h" #include "Capsule.h" #include "ConvexMesh.h" #include "ConcaveMesh.h" #include "Dumbbell.h" #include "VisualContactPoint.h" namespace collisionshapesscene { // Constants const float SCENE_RADIUS = 30.0f; const int NB_BOXES = 5; const int NB_SPHERES = 5; const int NB_CONES = 5; const int NB_CYLINDERS = 5; const int NB_CAPSULES = 5; const int NB_MESHES = 3; const int NB_COMPOUND_SHAPES = 3; const openglframework::Vector3 BOX_SIZE(2, 2, 2); const float SPHERE_RADIUS = 1.5f; const float CONE_RADIUS = 2.0f; const float CONE_HEIGHT = 3.0f; const float CYLINDER_RADIUS = 1.0f; const float CYLINDER_HEIGHT = 5.0f; const float CAPSULE_RADIUS = 1.0f; const float CAPSULE_HEIGHT = 1.0f; const float DUMBBELL_HEIGHT = 1.0f; const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters const float BOX_MASS = 1.0f; const float CONE_MASS = 1.0f; const float CYLINDER_MASS = 1.0f; const float CAPSULE_MASS = 1.0f; const float MESH_MASS = 1.0f; const float FLOOR_MASS = 100.0f; // Floor mass in kilograms // Class CollisionShapesScene class CollisionShapesScene : public SceneDemo { private : // -------------------- Attributes -------------------- // /// All the spheres of the scene std::vector mBoxes; std::vector mSpheres; std::vector mCones; std::vector mCylinders; std::vector mCapsules; /// All the convex meshes of the scene std::vector mConvexMeshes; /// All the dumbbell of the scene std::vector mDumbbells; /// Concave triangles mesh ConcaveMesh* mConcaveMesh; /// Box for the floor Box* mFloor; /// Dynamics world used for the physics simulation rp3d::DynamicsWorld* mDynamicsWorld; public: // -------------------- Methods -------------------- // /// Constructor CollisionShapesScene(const std::string& name); /// Destructor virtual ~CollisionShapesScene(); /// Update the physics world (take a simulation step) /// Can be called several times per frame virtual void updatePhysics(); /// Take a step for the simulation virtual void update(); /// Render the scene in a single pass virtual void renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix); /// Reset the scene virtual void reset(); /// Return all the contact points of the scene virtual std::vector getContactPoints() const; }; // Return all the contact points of the scene inline std::vector CollisionShapesScene::getContactPoints() const { return computeContactPointsOfWorld(mDynamicsWorld); } } #endif