281 lines
11 KiB
C++
281 lines
11 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 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 "HeightFieldScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace heightfieldscene;
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// Constructor
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HeightFieldScene::HeightFieldScene(const std::string& name, EngineSettings& settings)
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: SceneDemo(name, settings, true, 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 physics world
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rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
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rp3d::PhysicsWorld::WorldSettings worldSettings;
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worldSettings.worldName = name;
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// Create the physics world for the physics simulation
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rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
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physicsWorld->setEventListener(this);
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mPhysicsWorld = physicsWorld;
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for (int i = 0; i<NB_COMPOUND_SHAPES; i++) {
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// Create a convex mesh and a corresponding rigid in the physics world
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Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
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// Set the box color
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dumbbell->setColor(mObjectColorDemo);
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dumbbell->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& capsuleMaterial = dumbbell->getCapsuleCollider()->getMaterial();
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capsuleMaterial.setBounciness(rp3d::decimal(0.2));
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rp3d::Material& sphere1Material = dumbbell->getSphere1Collider()->getMaterial();
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sphere1Material.setBounciness(rp3d::decimal(0.2));
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rp3d::Material& sphere2Material = dumbbell->getSphere2Collider()->getMaterial();
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sphere2Material.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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mPhysicsObjects.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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// Create a sphere and a corresponding rigid in the physics world
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Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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// Set the box color
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box->setColor(mObjectColorDemo);
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box->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = box->getCollider()->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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mPhysicsObjects.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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// Create a sphere and a corresponding rigid in the physics world
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Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
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// Add some rolling resistance
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sphere->getCollider()->getMaterial().setRollingResistance(0.08f);
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// Set the box color
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sphere->setColor(mObjectColorDemo);
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sphere->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = sphere->getCollider()->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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mPhysicsObjects.push_back(sphere);
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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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// Create a cylinder and a corresponding rigid in the physics world
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Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
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mPhysicsCommon, mPhysicsWorld, meshFolderPath);
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capsule->getCollider()->getMaterial().setRollingResistance(0.08f);
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// Set the box color
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capsule->setColor(mObjectColorDemo);
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capsule->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = capsule->getCollider()->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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mPhysicsObjects.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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// Create a convex mesh and a corresponding rigid in the physics world
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ConvexMesh* mesh = new ConvexMesh(true, MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
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// Set the box color
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mesh->setColor(mObjectColorDemo);
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mesh->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mesh->getCollider()->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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mPhysicsObjects.push_back(mesh);
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}
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// ---------- Create the height field ---------- //
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// Position
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rp3d::decimal mass = 1.0;
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// Create a convex mesh and a corresponding rigid in the physics world
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mHeightField = new HeightField(true, mass, mPhysicsCommon, mPhysicsWorld);
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// Set the mesh as beeing static
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mHeightField->getRigidBody()->setType(rp3d::BodyType::STATIC);
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mPhysicsObjects.push_back(mHeightField);
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// Set the color
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mHeightField->setColor(mFloorColorDemo);
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mHeightField->setSleepingColor(mFloorColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mHeightField->getCollider()->getMaterial();
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material.setBounciness(rp3d::decimal(0.2));
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material.setFrictionCoefficient(0.1f);
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// Get the physics engine parameters
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mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
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rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
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mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
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mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
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mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
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mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
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mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
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mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
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mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
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}
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// Destructor
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HeightFieldScene::~HeightFieldScene() {
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// Destroy all the physics objects of the scene
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for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
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// Destroy the corresponding rigid body from the physics world
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mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
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// Destroy the object
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delete (*it);
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}
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// Destroy the physics world
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mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
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}
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// Reset the scene
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void HeightFieldScene::reset() {
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SceneDemo::reset();
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const float radius = 3.0f;
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for (uint 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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rp3d::Vector3 position(radius * std::cos(angle),
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125 + i * (DUMBBELL_HEIGHT + 0.3f),
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radius * std::sin(angle));
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mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
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}
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// Create all the boxes of the scene
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for (uint i = 0; i<NB_BOXES; i++) {
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// Position
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float angle = i * 30.0f;
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rp3d::Vector3 position(radius * std::cos(angle),
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85 + i * (BOX_SIZE.y + 0.8f),
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radius * std::sin(angle));
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mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
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}
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// Create all the spheres of the scene
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for (uint i = 0; i<NB_SPHERES; i++) {
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// Position
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float angle = i * 35.0f;
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rp3d::Vector3 position(radius * std::cos(angle),
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75 + i * (SPHERE_RADIUS + 0.8f),
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radius * std::sin(angle));
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mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
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}
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// Create all the capsules of the scene
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for (uint i = 0; i<NB_CAPSULES; i++) {
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// Position
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float angle = i * 45.0f;
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rp3d::Vector3 position(radius * std::cos(angle),
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40 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * std::sin(angle));
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mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
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}
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// Create all the convex meshes of the scene
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for (uint i = 0; i<NB_MESHES; i++) {
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// Position
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float angle = i * 30.0f;
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rp3d::Vector3 position(radius * std::cos(angle),
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30 + i * (CAPSULE_HEIGHT + 0.3f),
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radius * std::sin(angle));
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mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
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}
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// ---------- Create the triangular mesh ---------- //
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mHeightField->setTransform(rp3d::Transform::identity());
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}
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