385 lines
16 KiB
C++
Executable File
385 lines
16 KiB
C++
Executable File
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* This software is provided 'as-is', without any express or implied warranty. *
|
|
* In no event will the authors be held liable for any damages arising from the *
|
|
* use of this software. *
|
|
* *
|
|
* Permission is granted to anyone to use this software for any purpose, *
|
|
* including commercial applications, and to alter it and redistribute it *
|
|
* freely, subject to the following restrictions: *
|
|
* *
|
|
* 1. The origin of this software must not be misrepresented; you must not claim *
|
|
* that you wrote the original software. If you use this software in a *
|
|
* product, an acknowledgment in the product documentation would be *
|
|
* appreciated but is not required. *
|
|
* *
|
|
* 2. Altered source versions must be plainly marked as such, and must not be *
|
|
* misrepresented as being the original software. *
|
|
* *
|
|
* 3. This notice may not be removed or altered from any source distribution. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
// Libraries
|
|
#include "CollisionDetectionScene.h"
|
|
|
|
// Namespaces
|
|
using namespace openglframework;
|
|
using namespace collisiondetectionscene;
|
|
|
|
// Constructor
|
|
CollisionDetectionScene::CollisionDetectionScene(const std::string& name)
|
|
: SceneDemo(name, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
|
|
mContactManager(mPhongShader, mMeshFolderPath),
|
|
mAreNormalsDisplayed(false) {
|
|
|
|
mSelectedShapeIndex = 0;
|
|
mIsContactPointsDisplayed = true;
|
|
mIsWireframeEnabled = true;
|
|
|
|
// Compute the radius and the center of the scene
|
|
openglframework::Vector3 center(0, 0, 0);
|
|
|
|
// Set the center of the scene
|
|
setScenePosition(center, SCENE_RADIUS);
|
|
|
|
// Create the dynamics world for the physics simulation
|
|
mCollisionWorld = new rp3d::CollisionWorld();
|
|
|
|
// ---------- Sphere 1 ---------- //
|
|
openglframework::Vector3 position1(12, 0, 0);
|
|
|
|
// Create a sphere and a corresponding collision body in the dynamics world
|
|
mSphere1 = new Sphere(4, position1, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mSphere1);
|
|
|
|
// Set the color
|
|
mSphere1->setColor(mGreyColorDemo);
|
|
mSphere1->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Sphere 2 ---------- //
|
|
openglframework::Vector3 position2(12, 8, 0);
|
|
|
|
// Create a sphere and a corresponding collision body in the dynamics world
|
|
mSphere2 = new Sphere(2, position2, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mSphere2);
|
|
|
|
// Set the color
|
|
mSphere2->setColor(mGreyColorDemo);
|
|
mSphere2->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Capsule 1 ---------- //
|
|
openglframework::Vector3 position3(0, -12, 0);
|
|
|
|
// Create a cylinder and a corresponding collision body in the dynamics world
|
|
mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position3, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mCapsule1);
|
|
|
|
// Set the color
|
|
mCapsule1->setColor(mGreyColorDemo);
|
|
mCapsule1->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Capsule 2 ---------- //
|
|
openglframework::Vector3 position4(-8, 0, 0);
|
|
|
|
// Create a cylinder and a corresponding collision body in the dynamics world
|
|
mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position4, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mCapsule2);
|
|
|
|
// Set the color
|
|
mCapsule2->setColor(mGreyColorDemo);
|
|
mCapsule2->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Box 1 ---------- //
|
|
openglframework::Vector3 position5(0, -0, 0);
|
|
|
|
// Create a cylinder and a corresponding collision body in the dynamics world
|
|
mBox1 = new Box(BOX_SIZE, position5, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mBox1);
|
|
|
|
// Set the color
|
|
mBox1->setColor(mGreyColorDemo);
|
|
mBox1->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Box 2 ---------- //
|
|
openglframework::Vector3 position6(0, 8, 0);
|
|
|
|
// Create a cylinder and a corresponding collision body in the dynamics world
|
|
mBox2 = new Box(openglframework::Vector3(3, 2, 5), position6, mCollisionWorld, mMeshFolderPath);
|
|
mAllShapes.push_back(mBox2);
|
|
|
|
// Set the color
|
|
mBox2->setColor(mGreyColorDemo);
|
|
mBox2->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Cone ---------- //
|
|
//openglframework::Vector3 position4(0, 0, 0);
|
|
|
|
// Create a cone and a corresponding collision body in the dynamics world
|
|
//mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
|
|
// mMeshFolderPath);
|
|
|
|
// Set the color
|
|
//mCone->setColor(mGreyColorDemo);
|
|
//mCone->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Cylinder ---------- //
|
|
//openglframework::Vector3 position5(0, 0, 0);
|
|
|
|
// Create a cylinder and a corresponding collision body in the dynamics world
|
|
//mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
|
|
// mCollisionWorld, mMeshFolderPath);
|
|
|
|
// Set the color
|
|
//mCylinder->setColor(mGreyColorDemo);
|
|
//mCylinder->setSleepingColor(mRedColorDemo);
|
|
|
|
|
|
// ---------- Convex Mesh ---------- //
|
|
//openglframework::Vector3 position7(0, 0, 0);
|
|
|
|
// Create a convex mesh and a corresponding collision body in the dynamics world
|
|
//mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj");
|
|
|
|
// Set the color
|
|
//mConvexMesh->setColor(mGreyColorDemo);
|
|
//mConvexMesh->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Concave Mesh ---------- //
|
|
//openglframework::Vector3 position8(0, 0, 0);
|
|
|
|
// Create a convex mesh and a corresponding collision body in the dynamics world
|
|
//mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath + "city.obj");
|
|
|
|
// Set the color
|
|
//mConcaveMesh->setColor(mGreyColorDemo);
|
|
//mConcaveMesh->setSleepingColor(mRedColorDemo);
|
|
|
|
// ---------- Heightfield ---------- //
|
|
//openglframework::Vector3 position9(0, 0, 0);
|
|
|
|
// Create a convex mesh and a corresponding collision body in the dynamics world
|
|
//mHeightField = new HeightField(position9, mCollisionWorld);
|
|
|
|
// Set the color
|
|
//mHeightField->setColor(mGreyColorDemo);
|
|
//mHeightField->setSleepingColor(mRedColorDemo);
|
|
|
|
mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
|
|
}
|
|
|
|
// Reset the scene
|
|
void CollisionDetectionScene::reset() {
|
|
|
|
}
|
|
|
|
// Destructor
|
|
CollisionDetectionScene::~CollisionDetectionScene() {
|
|
|
|
// Destroy the box rigid body from the dynamics world
|
|
//mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody());
|
|
//delete mBox;
|
|
|
|
// Destroy the spheres
|
|
mCollisionWorld->destroyCollisionBody(mSphere1->getCollisionBody());
|
|
delete mSphere1;
|
|
|
|
mCollisionWorld->destroyCollisionBody(mSphere2->getCollisionBody());
|
|
delete mSphere2;
|
|
|
|
mCollisionWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
|
|
delete mCapsule1;
|
|
|
|
mCollisionWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
|
|
delete mCapsule2;
|
|
|
|
mCollisionWorld->destroyCollisionBody(mBox1->getCollisionBody());
|
|
delete mBox1;
|
|
|
|
mCollisionWorld->destroyCollisionBody(mBox2->getCollisionBody());
|
|
delete mBox2;
|
|
|
|
/*
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
|
|
delete mCone;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
|
|
|
|
// Destroy the sphere
|
|
delete mCylinder;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
|
|
|
|
// Destroy the sphere
|
|
delete mCapsule;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
|
|
|
|
// Destroy the convex mesh
|
|
delete mConvexMesh;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
|
|
|
|
// Destroy the dumbbell
|
|
delete mDumbbell;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
|
|
|
|
// Destroy the convex mesh
|
|
delete mConcaveMesh;
|
|
|
|
// Destroy the corresponding rigid body from the dynamics world
|
|
mCollisionWorld->destroyCollisionBody(mHeightField->getCollisionBody());
|
|
|
|
// Destroy the convex mesh
|
|
delete mHeightField;
|
|
*/
|
|
|
|
mContactManager.resetPoints();
|
|
|
|
// Destroy the static data for the visual contact points
|
|
VisualContactPoint::destroyStaticData();
|
|
|
|
// Destroy the collision world
|
|
delete mCollisionWorld;
|
|
}
|
|
|
|
// Update the physics world (take a simulation step)
|
|
void CollisionDetectionScene::updatePhysics() {
|
|
|
|
|
|
}
|
|
|
|
// Take a step for the simulation
|
|
void CollisionDetectionScene::update() {
|
|
|
|
mContactManager.resetPoints();
|
|
|
|
mCollisionWorld->testCollision(&mContactManager);
|
|
|
|
SceneDemo::update();
|
|
}
|
|
|
|
// Render the scene
|
|
void CollisionDetectionScene::renderSinglePass(openglframework::Shader& shader,
|
|
const openglframework::Matrix4& worldToCameraMatrix) {
|
|
|
|
// Render the shapes
|
|
if (mSphere1->getCollisionBody()->isActive()) mSphere1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
if (mSphere2->getCollisionBody()->isActive()) mSphere2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
if (mCapsule1->getCollisionBody()->isActive()) mCapsule1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
if (mCapsule2->getCollisionBody()->isActive()) mCapsule2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
if (mBox1->getCollisionBody()->isActive()) mBox1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
if (mBox2->getCollisionBody()->isActive()) mBox2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
|
|
|
|
/*
|
|
if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);
|
|
if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix);
|
|
if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix);
|
|
if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix);
|
|
if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix);
|
|
if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix);
|
|
if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix);
|
|
if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix);
|
|
*/
|
|
|
|
shader.unbind();
|
|
}
|
|
|
|
void CollisionDetectionScene::selectNextShape() {
|
|
|
|
int previousIndex = mSelectedShapeIndex;
|
|
mSelectedShapeIndex++;
|
|
if (mSelectedShapeIndex >= mAllShapes.size()) {
|
|
mSelectedShapeIndex = 0;
|
|
}
|
|
|
|
mAllShapes[previousIndex]->setColor(mGreyColorDemo);
|
|
mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
|
|
}
|
|
|
|
// Called when a keyboard event occurs
|
|
bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, int mods) {
|
|
|
|
// If the space key has been pressed
|
|
if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
|
|
selectNextShape();
|
|
return true;
|
|
}
|
|
|
|
float stepDist = 0.2f;
|
|
float stepAngle = 15 * (3.14f / 180.0f);
|
|
|
|
if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_UP && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_H && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist));
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_A && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(0, stepAngle, 0) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_D && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(0, -stepAngle, 0) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_W && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(stepAngle, 0, 0) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_S && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(-stepAngle, 0, 0) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_F && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(0, 0, stepAngle) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
else if (key == GLFW_KEY_G && action == GLFW_PRESS) {
|
|
rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
|
|
transform.setOrientation(rp3d::Quaternion(0, 0, -stepAngle) * transform.getOrientation());
|
|
mAllShapes[mSelectedShapeIndex]->setTransform(transform);
|
|
}
|
|
|
|
return false;
|
|
}
|