reactphysics3d/testbed/scenes/cubes/CubesScene.cpp
2016-04-11 20:15:20 +02:00

199 lines
7.9 KiB
C++

/********************************************************************************
* 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 "CubesScene.h"
// Namespaces
using namespace openglframework;
using namespace cubesscene;
// Constructor
CubesScene::CubesScene(const std::string& name)
: SceneDemo(name, SCENE_RADIUS) {
// 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, rp3d::decimal(-9.81), 0);
// Create the dynamics world for the physics simulation
mDynamicsWorld = new rp3d::DynamicsWorld(gravity);
// Set the number of iterations of the constraint solver
mDynamicsWorld->setNbIterationsVelocitySolver(15);
float radius = 2.0f;
// Create all the cubes of the scene
for (int i=0; i<NB_CUBES; i++) {
// Position of the cubes
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
30 + i * (BOX_SIZE.y + 0.3f),
0);
// Create a cube and a corresponding rigid in the dynamics world
Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
// Set the box color
cube->setColor(mDemoColors[i % mNbDemoColors]);
cube->setSleepingColor(mRedColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material = cube->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.4));
// Add the box the list of box in the scene
mBoxes.push_back(cube);
}
// Create the floor
openglframework::Vector3 floorPosition(0, 0, 0);
mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
mFloor->setColor(mGreyColorDemo);
mFloor->setSleepingColor(mGreyColorDemo);
// The floor must be a static rigid body
mFloor->getRigidBody()->setType(rp3d::STATIC);
// Change the material properties of the floor rigid body
rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.3));
// 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
CubesScene::~CubesScene() {
// Destroy all the cubes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the cube
delete (*it);
}
// Destroy the rigid body of the floor
mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
// Destroy the floor
delete mFloor;
// Destroy the dynamics world
delete mDynamicsWorld;
}
// Update the physics world (take a simulation step)
void CubesScene::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);
}
// Update the scene
void CubesScene::update() {
SceneDemo::update();
// Update the position and orientation of the boxes
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform(mInterpolationFactor);
}
mFloor->updateTransform(mInterpolationFactor);
}
// Render the scene in a single pass
void CubesScene::renderSinglePass(Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
// Bind the shader
shader.bind();
// Render all the cubes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
(*it)->render(shader, worldToCameraMatrix);
}
// Render the floor
mFloor->render(shader, worldToCameraMatrix);
// Unbind the shader
shader.unbind();
}
// Reset the scene
void CubesScene::reset() {
float radius = 2.0f;
for (int i=0; i<NB_CUBES; i++) {
// Position of the cubes
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
10 + i * (BOX_SIZE.y + 0.3f),
0);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
mBoxes[i]->resetTransform(transform);
}
}