reactphysics3d/testbed/scenes/sliderjoint/SliderJointScene.cpp

163 lines
6.6 KiB
C++

/********************************************************************************
* 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 "SliderJointScene.h"
#include <cmath>
// Namespaces
using namespace openglframework;
using namespace sliderjointscene;
// Constructor
SliderJointScene::SliderJointScene(const std::string& name, EngineSettings& settings)
: SceneDemo(name, settings, true, SCENE_RADIUS) {
// Compute the radius and the center of the scene
openglframework::Vector3 center(0, 5, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
mWorldSettings.worldName = name;
// Logger
rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
static_cast<uint>(rp3d::Logger::Level::Error);
defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
mPhysicsCommon.setLogger(defaultLogger);
}
// Destructor
SliderJointScene::~SliderJointScene() {
destroyPhysicsWorld();
}
// Create the physics world
void SliderJointScene::createPhysicsWorld() {
// Gravity vector in the physics world
mWorldSettings.gravity = rp3d::Vector3(mEngineSettings.gravity.x, mEngineSettings.gravity.y, mEngineSettings.gravity.z);
// Create the physics world for the physics simulation
mPhysicsWorld = mPhysicsCommon.createPhysicsWorld(mWorldSettings);
mPhysicsWorld->setEventListener(this);
// Create the Slider joint
createSliderJoint();
}
// Initialize the bodies positions
void SliderJointScene::initBodiesPositions() {
rp3d::Transform transform1(rp3d::Vector3(0,4,0), rp3d::Quaternion::identity());
mBox1->setTransform(transform1);
rp3d::Transform transform2(rp3d::Vector3(0,0,0), rp3d::Quaternion::identity());
mBox2->setTransform(transform2);
}
// Destroy the physics world
void SliderJointScene::destroyPhysicsWorld() {
if (mPhysicsWorld != nullptr) {
delete mBox1;
delete mBox2;
mPhysicsObjects.clear();
mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
mPhysicsWorld = nullptr;
}
}
// Reset the scene
void SliderJointScene::reset() {
SceneDemo::reset();
destroyPhysicsWorld();
createPhysicsWorld();
initBodiesPositions();
}
/// Create the boxes and joint for the Slider joint example
void SliderJointScene::createSliderJoint() {
// --------------- Create the first box --------------- //
// Create a box and a corresponding rigid in the physics world
openglframework::Vector3 box1Dimension(2, 4, 2);
mBox1 = new Box(true, box1Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox1->setTransform(rp3d::Transform(rp3d::Vector3(0, 4, 0), rp3d::Quaternion::identity()));
// Set the box color
mBox1->setColor(mObjectColorDemo);
mBox1->setSleepingColor(mSleepingColorDemo);
// The fist box cannot move
mBox1->getRigidBody()->setType(rp3d::BodyType::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material1 = mBox1->getCollider()->getMaterial();
material1.setBounciness(0.4f);
mPhysicsObjects.push_back(mBox1);
// --------------- Create the second box --------------- //
// Create a box and a corresponding rigid in the physics world
openglframework::Vector3 box2Dimension(2, 4, 2);
mBox2 = new Box(true, box2Dimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity()));
// Set the box color
mBox2->setColor(mObjectColorDemo);
mBox2->setSleepingColor(mSleepingColorDemo);
// Change the material properties of the rigid body
rp3d::Material& material2 = mBox2->getCollider()->getMaterial();
material2.setBounciness(0.4f);
mPhysicsObjects.push_back(mBox2);
// --------------- Create the joint --------------- //
// Create the joint info object
rp3d::RigidBody* body1 = mBox1->getRigidBody();
rp3d::RigidBody* body2 = mBox2->getRigidBody();
const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
const rp3d::Vector3 anchorPointWorldSpace = rp3d::decimal(0.5) * (body2Position + body1Position);
const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
rp3d::decimal(-1.7), rp3d::decimal(1.7));
jointInfo.isCollisionEnabled = false;
// Create the joint in the physics world
mJoint = dynamic_cast<rp3d::SliderJoint*>(mPhysicsWorld->createJoint(jointInfo));
}