311 lines
12 KiB
C++
311 lines
12 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 "RopeScene.h"
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#include <cmath>
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// Namespaces
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using namespace openglframework;
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using namespace ropescene;
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// Constructor
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RopeScene::RopeScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
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: SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS), nbIterations(0), nbTorqueIterations(200) {
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std::string meshFolderPath("meshes/");
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mEngineSettings.timeStep = std::chrono::duration<double>(1.0f / 120.0f);
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// Compute the radius and the center of the scene
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openglframework::Vector3 center(0, 0, 0);
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// Set the center of the scene
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setScenePosition(center, SCENE_RADIUS);
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mWorldSettings.worldName = name;
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}
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// Destructor
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RopeScene::~RopeScene() {
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destroyPhysicsWorld();
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}
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// Create the joints
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void RopeScene::createJoints() {
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for (int r=0; r < NB_ROPES; r++) {
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for (int i=0; i < NB_CAPSULES_PER_ROPE-1; i++) {
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const uint capsuleIndex = r * NB_CAPSULES_PER_ROPE + i;
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// Create the joint info object
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rp3d::RigidBody* body1 = mCapsules[capsuleIndex]->getRigidBody();
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rp3d::RigidBody* body2 = mCapsules[capsuleIndex+1]->getRigidBody();
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rp3d::Vector3 body1Position = body1->getTransform().getPosition();
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rp3d::Vector3 body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5f * (body1Position + body2Position);
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rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
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jointInfo.isCollisionEnabled = false;
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rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo));
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mBallAndSocketJoints.push_back(joint);
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}
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// Create the joint between the rope and the box
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rp3d::RigidBody* body1 = mCapsules[r * NB_CAPSULES_PER_ROPE + NB_CAPSULES_PER_ROPE - 1]->getRigidBody();
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rp3d::RigidBody* body2 = r > 0 ? mBox2->getRigidBody() : mBox1->getRigidBody();
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rp3d::Vector3 body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(0, -CAPSULE_HEIGHT * 0.5f , 0);
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rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
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jointInfo.isCollisionEnabled = false;
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rp3d::BallAndSocketJoint* joint = dynamic_cast<rp3d::BallAndSocketJoint*>(mPhysicsWorld->createJoint(jointInfo));
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mBallAndSocketJoints.push_back(joint);
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}
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}
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void RopeScene::initBodiesPositions() {
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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for (int r=0; r < NB_ROPES; r++) {
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rp3d::Vector3 initPosition = rp3d::Vector3(r == 0 ? -5 : 25, 15, 0);
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switch(r) {
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case 1: initPosition += rp3d::Vector3(BOX_SIZE, 0, -BOX_SIZE) * 0.5f; break;
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case 2: initPosition += rp3d::Vector3(BOX_SIZE, 0, BOX_SIZE) * 0.5f; break;
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case 3: initPosition += rp3d::Vector3(-BOX_SIZE, 0, BOX_SIZE) * 0.5f; break;
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case 4: initPosition += rp3d::Vector3(-BOX_SIZE, 0, -BOX_SIZE) * 0.5f; break;
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default: break;
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}
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for (int i=0; i<NB_CAPSULES_PER_ROPE; i++) {
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const uint capsuleIndex = r * NB_CAPSULES_PER_ROPE + i;
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initPosition += rp3d::Vector3(0, - CAPSULE_HEIGHT, 0);
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the physics world
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mCapsules[capsuleIndex]->setTransform(transform);
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}
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}
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rp3d::Vector3 box1Position(-5, 15 - NB_CAPSULES_PER_ROPE * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 0);
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const rp3d::Transform box1Transform(box1Position, rp3d::Quaternion::identity());
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mBox1->setTransform(box1Transform);
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rp3d::Vector3 box2Position(25, 15 - NB_CAPSULES_PER_ROPE * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 0);
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const rp3d::Transform box2Transform(box2Position, rp3d::Quaternion::identity());
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mBox2->setTransform(box2Transform);
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rp3d::Vector3 plankPosition(-9, 5, 0);
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const rp3d::Transform plankTransform(plankPosition, rp3d::Quaternion::identity());
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mPlank->setTransform(plankTransform);
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}
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// Create the physics world
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void RopeScene::createPhysicsWorld() {
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// Gravity vector in the physics world
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mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z);
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// Create the physics world for the physics simulation
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mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings);
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mPhysicsWorld->setEventListener(this);
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const float linearDamping = 0.03f;
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const float angularDamping = 0.03f;
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// ---------- Create the ropes --------- //
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for (int r=0; r < NB_ROPES; r++) {
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// Create all the capsules of the scene
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for (int i=0; i<NB_CAPSULES_PER_ROPE; i++) {
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const uint capsuleIndex = r * NB_CAPSULES_PER_ROPE + i;
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// Create a capsule and a corresponding rigid in the physics world
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mCapsules[capsuleIndex] = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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// Set the capsule color
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mCapsules[capsuleIndex]->setColor(mObjectColorDemo);
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mCapsules[capsuleIndex]->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material = mCapsules[capsuleIndex]->getCollider()->getMaterial();
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material.setBounciness(rp3d::decimal(0.0));
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material.setMassDensity(rp3d::decimal(0.1));
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mCapsules[capsuleIndex]->getRigidBody()->setAngularDamping(angularDamping);
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mCapsules[capsuleIndex]->getRigidBody()->setLinearDamping(linearDamping);
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if (i == 0) {
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mCapsules[capsuleIndex]->getRigidBody()->setType(rp3d::BodyType::STATIC);
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}
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// Add the capsule the list of capsules in the scene
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mPhysicsObjects.push_back(mCapsules[capsuleIndex]);
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}
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}
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// ---------- Create the first box --------- //
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// Create a box and a corresponding rigid in the physics world
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mBox1 = new Box(true, Vector3(BOX_SIZE, BOX_SIZE, BOX_SIZE), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox1->getRigidBody()->setAngularDamping(angularDamping);
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mBox1->getRigidBody()->setLinearDamping(linearDamping);
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// Set the box color
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mBox1->setColor(mObjectColorDemo);
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mBox1->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material1 = mBox1->getCollider()->getMaterial();
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material1.setBounciness(rp3d::decimal(0.0));
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material1.setMassDensity(rp3d::decimal(0.02));
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mBox1->getRigidBody()->updateMassPropertiesFromColliders();
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std::cout << "Mass: " << mBox1->getRigidBody()->getMass() << std::endl;
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mPhysicsObjects.push_back(mBox1);
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// ---------- Create the second box --------- //
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// Create a box and a corresponding rigid in the physics world
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mBox2 = new Box(true, Vector3(BOX_SIZE, BOX_SIZE, BOX_SIZE), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox2->getRigidBody()->setAngularDamping(angularDamping);
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mBox2->getRigidBody()->setLinearDamping(linearDamping);
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// Set the box color
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mBox2->setColor(mObjectColorDemo);
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mBox2->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material2 = mBox2->getCollider()->getMaterial();
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material2.setBounciness(rp3d::decimal(0.0));
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material2.setMassDensity(rp3d::decimal(0.7));
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mBox2->getRigidBody()->updateMassPropertiesFromColliders();
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mPhysicsObjects.push_back(mBox2);
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// ---------- Create plank box --------- //
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// Create a box and a corresponding rigid in the physics world
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mPlank = new Box(true, Vector3(10, 2, 15), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mPlank->getRigidBody()->setType(rp3d::BodyType::STATIC);
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// Set the box color
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mPlank->setColor(mObjectColorDemo);
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mPlank->setSleepingColor(mSleepingColorDemo);
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// Change the material properties of the rigid body
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rp3d::Material& material3 = mPlank->getCollider()->getMaterial();
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material3.setBounciness(rp3d::decimal(0.5));
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mPhysicsObjects.push_back(mPlank);
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// Initialize the bodies positions
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initBodiesPositions();
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// Create the Ball-and-Socket joints
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createJoints();
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}
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// Move the first rope to an horizontal position
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void RopeScene::moveFirstRopeToHorizontalPosition() {
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// ---------- Move the first rope in a horizontal position ---------- //
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rp3d::Quaternion initOrientation = rp3d::Quaternion::fromEulerAngles(0, 0, -90 * rp3d::PI_RP3D / 180.0f);
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for (int i=1; i<NB_CAPSULES_PER_ROPE-1; i++) {
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition;
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initPosition = rp3d::Vector3(-5 - (i + 0.5) * CAPSULE_HEIGHT, 15 - CAPSULE_HEIGHT, 0);
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the physics world
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mCapsules[i]->setTransform(transform);
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}
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rp3d::Vector3 box1Position(-5 - (NB_CAPSULES_PER_ROPE + 0.5) * CAPSULE_HEIGHT - BOX_SIZE * 0.5, 15 - CAPSULE_HEIGHT, 0);
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const rp3d::Transform box1Transform(box1Position, initOrientation);
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mBox1->setTransform(box1Transform);
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}
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// Destroy the physics world
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void RopeScene::destroyPhysicsWorld() {
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if (mPhysicsWorld != nullptr) {
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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 object
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delete (*it);
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}
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mBallAndSocketJoints.clear();
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mPhysicsObjects.clear();
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mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
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mPhysicsWorld = nullptr;
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}
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}
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// Reset the scene
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void RopeScene::reset() {
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SceneDemo::reset();
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nbIterations = 0;
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destroyPhysicsWorld();
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createPhysicsWorld();
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initBodiesPositions();
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moveFirstRopeToHorizontalPosition();
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}
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/// Update the physics world (take a simulation step)
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/// Can be called several times per frame
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void RopeScene::updatePhysics() {
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if (nbIterations < nbTorqueIterations) {
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mBox2->getRigidBody()->applyLocalTorque(rp3d::Vector3(0, 1000, 0));
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}
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nbIterations++;
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SceneDemo::updatePhysics();
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}
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