150 lines
6.5 KiB
C++
150 lines
6.5 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 "FixedJointScene.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 fixedjointscene;
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// Constructor
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FixedJointScene::FixedJointScene(const std::string& name, EngineSettings& settings)
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: SceneDemo(name, settings, 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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// Gravity vector in the physics world
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rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
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rp3d::PhysicsWorld::WorldSettings worldSettings;
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worldSettings.worldName = name;
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// Logger
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rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
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uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
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static_cast<uint>(rp3d::Logger::Level::Error);
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defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
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mPhysicsCommon.setLogger(defaultLogger);
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// Create the physics world for the physics simulation
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rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
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physicsWorld->setEventListener(this);
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mPhysicsWorld = physicsWorld;
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// Create the fixed joint
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createFixedJoint();
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// Get the physics engine parameters
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mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
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rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
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mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
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mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
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mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
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mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
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mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
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mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
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mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
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}
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// Destructor
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FixedJointScene::~FixedJointScene() {
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// Destroy the joints
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mPhysicsWorld->destroyJoint(mFixedJoint);
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// Destroy all the rigid bodies of the scene
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mPhysicsWorld->destroyRigidBody(mBox1->getRigidBody());
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mPhysicsWorld->destroyRigidBody(mBox2->getRigidBody());
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delete mBox1;
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delete mBox2;
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// Destroy the physics world
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mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
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}
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// Reset the scene
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void FixedJointScene::reset() {
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SceneDemo::reset();
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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, 8, 4), rp3d::Quaternion::identity()));
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}
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/// Create the fixed joint
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void FixedJointScene::createFixedJoint() {
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// --------------- Create the first box --------------- //
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// Position of the box
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rp3d::Vector3 positionBox1(0, 4, 0);
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// Create a box and a corresponding rigid in the physics world
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openglframework::Vector3 boxDimension(4, 4, 4);
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mBox1 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox1->setTransform(rp3d::Transform(positionBox1, 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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mPhysicsObjects.push_back(mBox1);
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// --------------- Create the second box --------------- //
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// Position of the box
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rp3d::Vector3 positionBox2(4, 8, 4);
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// Create a box and a corresponding rigid in the physics world
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mBox2 = new Box(true, boxDimension, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
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mBox2->setTransform(rp3d::Transform(positionBox2, 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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mPhysicsObjects.push_back(mBox2);
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// --------------- Create the fixed 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 anchorPointWorldSpace1(5, 7, 0);
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rp3d::FixedJointInfo jointInfo1(body1, body2, anchorPointWorldSpace1);
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jointInfo1.isCollisionEnabled = false;
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// Create the joint in the physics world
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mFixedJoint = dynamic_cast<rp3d::FixedJoint*>(mPhysicsWorld->createJoint(jointInfo1));
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}
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