/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010 Daniel Chappuis *
*********************************************************************************
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy *
* of this software and associated documentation files (the "Software"), to deal *
* in the Software without restriction, including without limitation the rights *
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
* copies of the Software, and to permit persons to whom the Software is *
* furnished to do so, subject to the following conditions: *
* *
* The above copyright notice and this permission notice shall be included in *
* all copies or substantial portions of the Software. *
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
* THE SOFTWARE. *
********************************************************************************/
// Libraries
#include <stdlib.h>
#include <GL/freeglut.h>
#include <GL/glu.h>
#include "Box.h"
#include <reactphysics3d.h>
// Prototypes
void init();
void display();
void simulate();
void clean();
void reshape(int w, int h);
// Use the ReactPhysics3D namespace
using namespace reactphysics3d;
// Constants
const double FLOOR_SIZE = 20;
const double FLOOR_THICKNESS = 0.2;
// Global variables
PhysicsWorld* physicsWorld; // Physics world
PhysicsEngine* physicsEngine; // Physics engine
Box* boxes[2]; // Falling boxes
RigidBody* floorRigidBody; // Rigid body corresponding the floor
// Simulation function
void simulate() {
// Update the physics simulation
physicsEngine->update();
// Display the scene
display();
}
// Main function
int main(int argc, char** argv) {
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
glutInitWindowSize(600, 600);
glutInitWindowPosition(100, 100);
glutCreateWindow("ReactPhysics3D Example - Falling Cubes");
init();
glutIdleFunc(simulate);
glutReshapeFunc(reshape);
glutMainLoop();
physicsEngine->stop(); // Stop the physics simulation
clean();
return 0;
}
// Initialization function
void init() {
glClearColor(0.0, 0.0, 0.0, 0.0);
// Light
glShadeModel(GL_SMOOTH);
GLfloat light_position[] = {5.0f, 5.0f, 5.0f, 1.0f};
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
glEnable(GL_DEPTH_TEST);
// Gravity vector of the physics world
Vector3D gravity(0.0, -9.81, 0.0);
// Create the physics world
physicsWorld = new PhysicsWorld(gravity);
// Create the physics engine with the previous physis world and a timestep
// of 0.005 seconds
physicsEngine = new PhysicsEngine(physicsWorld, 0.005);
// Create a falling box with a size of 1m and weight of 3kg
Vector3D position1(-2.0, 15.0, 0.0); // Position of the box
Quaternion orientation(0.2, 1.0, 0.6, 0.0); // Orientation of the box
boxes[0] = new Box(1.0, 3.0, position1, orientation); // Creation of the box
boxes[0]->getRigidBodyPointer()->setRestitution(0.5); // How bouncy is the rigid body
physicsWorld->addBody(boxes[0]->getRigidBodyPointer()); // Add the rigid body created in the constructor
// of the Box to the physics world
// Create a second falling box with a size of 2m and weight of 4.5kg
Vector3D position2 = Vector3D(2.0, 10.0, 0.0); // Position of the box
orientation = Quaternion(1.0, 1.0, 0.5, 0.0); // Orientation of the box
boxes[1] = new Box(2.0, 4.5, position2, orientation); // Creation of the box
boxes[1]->getRigidBodyPointer()->setRestitution(0.5); // How bouncy is the rigid body
physicsWorld->addBody(boxes[1]->getRigidBodyPointer()); // Add the rigid body created in the constructor
// of the Box to the physics world
// Create the rigid body corresponding to the floor
Vector3D positionFloor = Vector3D(0.0, 0.0, 0.0);
orientation = Quaternion(0.0, 1.0, 0.0, 0.0);
double mass = 100.0;
// Local inertia tensor of a cube
rp3d::Matrix3x3 inertiaTensor(1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE, 0.0, 0.0,
0.0, 1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE, 0.0,
0.0, 0.0, 1.0/12.0*mass*2*FLOOR_SIZE*FLOOR_SIZE);
// Creation of the bounding volume for the collision
// The bounding volume is an Oriented Bounding Box (OBB)
// The first three arguments are the three axis direction of the OBB (here the x,y and z axis)
// and the last three arguments are the corresponding half extents of the OBB in those direction.
// Here the rigid body is a cube and therefore the three half extents are the half of the size
// of the cube in all OBB directions.
rp3d::OBB* boundingVolume = new OBB(positionFloor, Vector3D(1.0, 0.0, 0.0), Vector3D(0.0, 1.0, 0.0), Vector3D(0.0, 0.0, 1.0), FLOOR_SIZE, FLOOR_THICKNESS, FLOOR_SIZE);
// Create the rigid body that will be used to simulate the physics of the box
floorRigidBody = new RigidBody(positionFloor, orientation, mass, inertiaTensor, boundingVolume);
// The floor is a rigid body that cannot move
floorRigidBody->setIsMotionEnabled(false);
// Set the bouncing restitution factor of the floor
floorRigidBody->setRestitution(0.5);
// Add the floor rigid body to the physics world
physicsWorld->addBody(floorRigidBody);
// Start the physics simulation
physicsEngine->start();
}
// Display function
void display() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// Display each falling box of the scene
for (int i=0; i<2; i++) {
boxes[i]->draw();
}
// Display the plane for the floor
glBegin(GL_POLYGON);
glNormal3f(0.0, 1.0, 0.0);
glVertex3f(-FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glVertex3f(-FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
glVertex3f(FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
glEnd();
glutSwapBuffers();
}
// Reshape function
void reshape(int w, int h) {
float ratio = ((float)w / h);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
glViewport(0, 0, w, h);
gluPerspective(45, ratio,1,1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(20.0, 5.0, 20.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
}
// Clean the memory allocation
void clean() {
delete physicsEngine;
delete physicsWorld;
delete boxes[0];
delete boxes[1];
delete floorRigidBody;
}