214 lines
8.3 KiB
C++
214 lines
8.3 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 "CubesScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace cubesscene;
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// Constructor
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CubesScene::CubesScene(const std::string& name)
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: SceneDemo(name, 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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// Gravity vector in the dynamics world
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rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
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// Time step for the physics simulation
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rp3d::decimal timeStep = 1.0f / 60.0f;
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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 = 2.0f;
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// Create all the cubes of the scene
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for (int i=0; i<NB_CUBES; i++) {
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// Position of the cubes
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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30 + i * (BOX_SIZE.y + 0.3f),
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0);
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// Create a cube and a corresponding rigid in the dynamics world
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Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
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// Change the material properties of the rigid body
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rp3d::Material& material = cube->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.4));
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// Add the box the list of box in the scene
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mBoxes.push_back(cube);
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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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mFloor->setColor(Color(0.70f, 0.70f, 0.7f, 1.0f));
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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 floor rigid body
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rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.3));
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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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CubesScene::~CubesScene() {
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// Destroy all the cubes 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 cube
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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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// Destroy the floor
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delete mFloor;
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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 CubesScene::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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// Update the scene
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void CubesScene::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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mFloor->updateTransform(mInterpolationFactor);
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// Set the color of the awake/sleeping bodies
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for (uint i=0; i<mBoxes.size(); i++) {
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if (mBoxes[i]->getRigidBody()->isSleeping()) {
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mBoxes[i]->setColor(Color(1, 0, 0, 1));
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}
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else {
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mBoxes[i]->setColor(Color(0, 1, 0, 1));
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}
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}
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}
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// Render the scene in a single pass
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void CubesScene::renderSinglePass(Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the shader
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shader.bind();
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// Render all the cubes 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 the floor
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mFloor->render(shader, worldToCameraMatrix);
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// Unbind the shader
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shader.unbind();
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}
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// Reset the scene
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void CubesScene::reset() {
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float radius = 2.0f;
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for (int i=0; i<NB_CUBES; i++) {
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// Position of the cubes
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float angle = i * 30.0f;
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openglframework::Vector3 position(radius * cos(angle),
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10 + i * (BOX_SIZE.y + 0.3f),
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0);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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mBoxes[i]->resetTransform(transform);
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}
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}
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// Return all the contact points of the scene
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std::vector<ContactPoint> CubesScene::getContactPoints() const {
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std::vector<ContactPoint> contactPoints;
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return contactPoints;
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}
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