141 lines
5.6 KiB
C++
141 lines
5.6 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 "HingeJointScene.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 hingejointscene;
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// Constructor
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HingeJointScene::HingeJointScene(const std::string& name, EngineSettings& settings, reactphysics3d::PhysicsCommon& physicsCommon)
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: SceneDemo(name, settings, physicsCommon, true, SCENE_RADIUS) {
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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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mWorldSettings.worldName = name;
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}
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// Destructor
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HingeJointScene::~HingeJointScene() {
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destroyPhysicsWorld();
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}
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// Create the physics world
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void HingeJointScene::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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// Create the Hinge joint
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createHingeJoint();
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}
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// Initialize the bodies positions
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void HingeJointScene::initBodiesPositions() {
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mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
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mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity()));
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}
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// Destroy the physics world
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void HingeJointScene::destroyPhysicsWorld() {
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if (mPhysicsWorld != nullptr) {
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delete mBox1;
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delete mBox2;
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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 HingeJointScene::reset() {
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SceneDemo::reset();
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destroyPhysicsWorld();
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createPhysicsWorld();
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initBodiesPositions();
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}
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/// Create the hinge joint
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void HingeJointScene::createHingeJoint() {
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// --------------- Create the boxes --------------- //
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// Create a box and a corresponding rigid in the physics world
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mBox1 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
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mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);
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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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mPhysicsObjects.push_back(mBox1);
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// Create a box and a corresponding rigid in the physics world
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mBox2 = new Box(true, Vector3(4, 4, 4), mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox2->setTransform(rp3d::Transform(rp3d::Vector3(4, 4, 0), rp3d::Quaternion::identity()));
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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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mPhysicsObjects.push_back(mBox2);
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// --------------- Create the Hinge joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mBox1->getRigidBody();
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rp3d::RigidBody* body2 = mBox2->getRigidBody();
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const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position) - rp3d::Vector3(0, 2, 0);
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const rp3d::Vector3 hingeAxisWorldSpace(0, 0, 1);
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rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
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jointInfo.isCollisionEnabled = false;
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// Create the joint in the physics world
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mJoint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
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}
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