641 lines
24 KiB
C++
641 lines
24 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2015 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "CollisionShapesScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace collisionshapesscene;
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// Constructor
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CollisionShapesScene::CollisionShapesScene(const std::string& name)
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: SceneDemo(name, SCENE_RADIUS) {
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std::string meshFolderPath("meshes/");
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// Compute the radius and the center of the scene
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openglframework::Vector3 center(0, 5, 0);
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// Set the center of the scene
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setScenePosition(center, SCENE_RADIUS);
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// Gravity vector in the dynamics world
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rp3d::Vector3 gravity(0, -9.81, 0);
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// Create the dynamics world for the physics simulation
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mDynamicsWorld = new rp3d::DynamicsWorld(gravity);
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// Set the number of iterations of the constraint solver
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mDynamicsWorld->setNbIterationsVelocitySolver(15);
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float radius = 3.0f;
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for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
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// Position
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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100 + i * (DUMBBELL_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a convex mesh and a corresponding rigid in the dynamics world
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Dumbbell* dumbbell = new Dumbbell(position, mDynamicsWorld, meshFolderPath);
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// Set the box color
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dumbbell->setColor(mDemoColors[i % mNbDemoColors]);
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dumbbell->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the mesh the list of dumbbells in the scene
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mDumbbells.push_back(dumbbell);
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}
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// Create all the boxes of the scene
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for (int i=0; i<NB_BOXES; i++) {
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// Position
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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60 + i * (BOX_SIZE.y + 0.8f),
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radius * sin(angle));
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// Create a sphere and a corresponding rigid in the dynamics world
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Box* box = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
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// Set the box color
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box->setColor(mDemoColors[i % mNbDemoColors]);
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box->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = box->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the sphere the list of sphere in the scene
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mBoxes.push_back(box);
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}
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// Create all the spheres of the scene
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for (int i=0; i<NB_SPHERES; i++) {
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// Position
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float angle = i * 35.0f;
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openglframework::Vector3 position(radius * cos(angle),
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50 + i * (SPHERE_RADIUS + 0.8f),
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radius * sin(angle));
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// Create a sphere and a corresponding rigid in the dynamics world
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Sphere* sphere = new Sphere(SPHERE_RADIUS, position , BOX_MASS, mDynamicsWorld,
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meshFolderPath);
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// Add some rolling resistance
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sphere->getRigidBody()->getMaterial().setRollingResistance(0.08);
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// Set the box color
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sphere->setColor(mDemoColors[i % mNbDemoColors]);
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sphere->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = sphere->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the sphere the list of sphere in the scene
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mSpheres.push_back(sphere);
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}
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// Create all the cones of the scene
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for (int i=0; i<NB_CONES; i++) {
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// Position
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float angle = i * 50.0f;
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openglframework::Vector3 position(radius * cos(angle),
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35 + i * (CONE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cone and a corresponding rigid in the dynamics world
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Cone* cone = new Cone(CONE_RADIUS, CONE_HEIGHT, position, CONE_MASS, mDynamicsWorld,
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meshFolderPath);
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// Add some rolling resistance
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cone->getRigidBody()->getMaterial().setRollingResistance(0.08);
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// Set the box color
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cone->setColor(mDemoColors[i % mNbDemoColors]);
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cone->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = cone->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cone the list of sphere in the scene
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mCones.push_back(cone);
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}
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// Create all the cylinders of the scene
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for (int i=0; i<NB_CYLINDERS; i++) {
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// Position
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float angle = i * 35.0f;
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openglframework::Vector3 position(radius * cos(angle),
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25 + i * (CYLINDER_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cylinder and a corresponding rigid in the dynamics world
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Cylinder* cylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position ,
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CYLINDER_MASS, mDynamicsWorld, meshFolderPath);
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// Add some rolling resistance
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cylinder->getRigidBody()->getMaterial().setRollingResistance(0.08);
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// Set the box color
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cylinder->setColor(mDemoColors[i % mNbDemoColors]);
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cylinder->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = cylinder->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cylinder the list of sphere in the scene
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mCylinders.push_back(cylinder);
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}
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// Create all the capsules of the scene
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for (int i=0; i<NB_CAPSULES; i++) {
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// Position
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float angle = i * 45.0f;
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openglframework::Vector3 position(radius * cos(angle),
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15 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a cylinder and a corresponding rigid in the dynamics world
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Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position ,
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CAPSULE_MASS, mDynamicsWorld, meshFolderPath);
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capsule->getRigidBody()->getMaterial().setRollingResistance(0.08);
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// Set the box color
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capsule->setColor(mDemoColors[i % mNbDemoColors]);
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capsule->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = capsule->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the cylinder the list of sphere in the scene
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mCapsules.push_back(capsule);
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}
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// Create all the convex meshes of the scene
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for (int i=0; i<NB_MESHES; i++) {
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// Position
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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5 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * sin(angle));
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// Create a convex mesh and a corresponding rigid in the dynamics world
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ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld, meshFolderPath);
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// Set the box color
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mesh->setColor(mDemoColors[i % mNbDemoColors]);
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mesh->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mesh->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// Add the mesh the list of sphere in the scene
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mConvexMeshes.push_back(mesh);
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}
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// ---------- Create the floor ---------
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openglframework::Vector3 floorPosition(0, 0, 0);
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mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
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// Set the box color
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mFloor->setColor(mGreyColorDemo);
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mFloor->setSleepingColor(mGreyColorDemo);
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// The floor must be a static rigid body
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mFloor->getRigidBody()->setType(rp3d::STATIC);
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// Change the material properties of the rigid body
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rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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// ---------- Create the triangular mesh ---------- //
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/*
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// Position
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openglframework::Vector3 position(0, 0, 0);
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rp3d::decimal mass = 1.0;
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// Create a convex mesh and a corresponding rigid in the dynamics world
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mConcaveMesh = new ConcaveMesh(position, mass, mDynamicsWorld, meshFolderPath);
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// Set the mesh as beeing static
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mConcaveMesh->getRigidBody()->setType(rp3d::STATIC);
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// Set the box color
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mConcaveMesh->setColor(mDemoColors[0]);
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mConcaveMesh->setSleepingColor(mRedColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mConcaveMesh->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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material.setFrictionCoefficient(0.1);
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*/
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// Get the physics engine parameters
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mEngineSettings.isGravityEnabled = mDynamicsWorld->isGravityEnabled();
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rp3d::Vector3 gravityVector = mDynamicsWorld->getGravity();
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mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
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mEngineSettings.isSleepingEnabled = mDynamicsWorld->isSleepingEnabled();
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mEngineSettings.sleepLinearVelocity = mDynamicsWorld->getSleepLinearVelocity();
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mEngineSettings.sleepAngularVelocity = mDynamicsWorld->getSleepAngularVelocity();
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mEngineSettings.nbPositionSolverIterations = mDynamicsWorld->getNbIterationsPositionSolver();
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mEngineSettings.nbVelocitySolverIterations = mDynamicsWorld->getNbIterationsVelocitySolver();
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mEngineSettings.timeBeforeSleep = mDynamicsWorld->getTimeBeforeSleep();
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}
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// Destructor
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CollisionShapesScene::~CollisionShapesScene() {
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// Destroy all the boxes of the scene
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for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the box
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delete (*it);
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}
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// Destroy all the sphere of the scene
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for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the cones of the scene
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for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the cylinders of the scene
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for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the capsules of the scene
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for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the sphere
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delete (*it);
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}
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// Destroy all the convex meshes of the scene
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for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
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it != mConvexMeshes.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the convex mesh
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delete (*it);
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}
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// Destroy all the dumbbell of the scene
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for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
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it != mDumbbells.end(); ++it) {
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// Destroy the corresponding rigid body from the dynamics world
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mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the convex mesh
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delete (*it);
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}
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// Destroy the rigid body of the floor
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mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
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//mDynamicsWorld->destroyRigidBody(mConcaveMesh->getRigidBody());
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// Destroy the floor
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delete mFloor;
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// Destroy the convex mesh
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//delete mConcaveMesh;
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// Destroy the dynamics world
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delete mDynamicsWorld;
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}
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// Update the physics world (take a simulation step)
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void CollisionShapesScene::updatePhysics() {
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// Update the physics engine parameters
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mDynamicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
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rp3d::Vector3 gravity(mEngineSettings.gravity.x, mEngineSettings.gravity.y,
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mEngineSettings.gravity.z);
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mDynamicsWorld->setGravity(gravity);
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mDynamicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled);
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mDynamicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
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mDynamicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
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mDynamicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
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mDynamicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
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mDynamicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
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// Take a simulation step
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mDynamicsWorld->update(mEngineSettings.timeStep);
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}
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// Take a step for the simulation
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void CollisionShapesScene::update() {
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SceneDemo::update();
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// Update the position and orientation of the boxes
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for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the sphere
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for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the cones
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for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the cylinders
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for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the capsules
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for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the convex meshes
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for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
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it != mConvexMeshes.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the dumbbells
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for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
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it != mDumbbells.end(); ++it) {
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// Update the transform used for the rendering
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(*it)->updateTransform(mInterpolationFactor);
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}
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//mConcaveMesh->updateTransform(mInterpolationFactor);
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mFloor->updateTransform(mInterpolationFactor);
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}
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// Render the scene
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void CollisionShapesScene::renderSinglePass(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the shader
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shader.bind();
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// Render all the boxes of the scene
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for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
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(*it)->render(shader, worldToCameraMatrix);
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}
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// Render all the sphere of the scene
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for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
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(*it)->render(shader, worldToCameraMatrix);
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}
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// Render all the cones of the scene
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for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
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(*it)->render(shader, worldToCameraMatrix);
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}
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// Render all the cylinders of the scene
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for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
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(*it)->render(shader, worldToCameraMatrix);
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}
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// Render all the capsules of the scene
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for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
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(*it)->render(shader, worldToCameraMatrix);
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}
|
|
|
|
// Render all the convex meshes of the scene
|
|
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
|
|
it != mConvexMeshes.end(); ++it) {
|
|
(*it)->render(shader, worldToCameraMatrix);
|
|
}
|
|
|
|
// Render all the dumbbells of the scene
|
|
for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
|
|
it != mDumbbells.end(); ++it) {
|
|
(*it)->render(shader, worldToCameraMatrix);
|
|
}
|
|
|
|
// Render the floor
|
|
mFloor->render(shader, worldToCameraMatrix);
|
|
|
|
//mConcaveMesh->render(shader, worldToCameraMatrix);
|
|
|
|
// Unbind the shader
|
|
shader.unbind();
|
|
}
|
|
|
|
/// Reset the scene
|
|
void CollisionShapesScene::reset() {
|
|
|
|
float radius = 3.0f;
|
|
|
|
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
100 + i * (DUMBBELL_HEIGHT + 0.3f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mDumbbells[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the boxes of the scene
|
|
for (int i=0; i<NB_BOXES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
60 + i * (BOX_SIZE.y + 0.8f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mBoxes[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the spheres of the scene
|
|
for (int i=0; i<NB_SPHERES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 35.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
50 + i * (SPHERE_RADIUS + 0.8f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mSpheres[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the cones of the scene
|
|
for (int i=0; i<NB_CONES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 50.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
35 + i * (CONE_HEIGHT + 0.3f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mCones[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the cylinders of the scene
|
|
for (int i=0; i<NB_CYLINDERS; i++) {
|
|
|
|
// Position
|
|
float angle = i * 35.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
25 + i * (CYLINDER_HEIGHT + 0.3f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mCylinders[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the capsules of the scene
|
|
for (int i=0; i<NB_CAPSULES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 45.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
15 + i * (CAPSULE_HEIGHT + 0.3f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mCapsules[i]->resetTransform(transform);
|
|
}
|
|
|
|
// Create all the convex meshes of the scene
|
|
for (int i=0; i<NB_MESHES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
openglframework::Vector3 position(radius * cos(angle),
|
|
5 + i * (CAPSULE_HEIGHT + 0.3f),
|
|
radius * sin(angle));
|
|
|
|
// 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);
|
|
|
|
// Reset the transform
|
|
mConvexMeshes[i]->resetTransform(transform);
|
|
}
|
|
}
|