156 lines
4.9 KiB
C++
156 lines
4.9 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
|
* Copyright (c) 2010-2013 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. *
|
|
* *
|
|
********************************************************************************/
|
|
|
|
#ifndef SCENE_H
|
|
#define SCENE_H
|
|
|
|
// Libraries
|
|
#include "openglframework.h"
|
|
#include "reactphysics3d.h"
|
|
#include "Sphere.h"
|
|
#include "Box.h"
|
|
#include "Cone.h"
|
|
#include "Cylinder.h"
|
|
#include "Capsule.h"
|
|
#include "ConvexMesh.h"
|
|
#include "VisualContactPoint.h"
|
|
#include "../common/Viewer.h"
|
|
|
|
// Constants
|
|
const int NB_BOXES = 3;
|
|
const int NB_SPHERES = 3;
|
|
const int NB_CONES = 3;
|
|
const int NB_CYLINDERS = 3;
|
|
const int NB_CAPSULES = 3;
|
|
const int NB_MESHES = 3;
|
|
const openglframework::Vector3 BOX_SIZE(2, 2, 2);
|
|
const float SPHERE_RADIUS = 1.5f;
|
|
const float CONE_RADIUS = 2.0f;
|
|
const float CONE_HEIGHT = 3.0f;
|
|
const float CYLINDER_RADIUS = 1.0f;
|
|
const float CYLINDER_HEIGHT = 5.0f;
|
|
const float CAPSULE_RADIUS = 1.0f;
|
|
const float CAPSULE_HEIGHT = 1.0f;
|
|
const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20); // Floor dimensions in meters
|
|
const float BOX_MASS = 1.0f;
|
|
const float CONE_MASS = 1.0f;
|
|
const float CYLINDER_MASS = 1.0f;
|
|
const float CAPSULE_MASS = 1.0f;
|
|
const float MESH_MASS = 1.0f;
|
|
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
|
|
|
|
// Class Scene
|
|
class Scene {
|
|
|
|
private :
|
|
|
|
// -------------------- Attributes -------------------- //
|
|
|
|
/// Pointer to the viewer
|
|
Viewer* mViewer;
|
|
|
|
/// Light 0
|
|
openglframework::Light mLight0;
|
|
|
|
/// Phong shader
|
|
openglframework::Shader mPhongShader;
|
|
|
|
/// All the spheres of the scene
|
|
std::vector<Box*> mBoxes;
|
|
|
|
std::vector<Sphere*> mSpheres;
|
|
|
|
std::vector<Cone*> mCones;
|
|
|
|
std::vector<Cylinder*> mCylinders;
|
|
|
|
std::vector<Capsule*> mCapsules;
|
|
|
|
/// All the convex meshes of the scene
|
|
std::vector<ConvexMesh*> mConvexMeshes;
|
|
|
|
/// All the visual contact points
|
|
std::vector<VisualContactPoint*> mContactPoints;
|
|
|
|
/// Box for the floor
|
|
Box* mFloor;
|
|
|
|
/// Dynamics world used for the physics simulation
|
|
rp3d::DynamicsWorld* mDynamicsWorld;
|
|
|
|
/// True if the physics simulation is running
|
|
bool mIsRunning;
|
|
|
|
public:
|
|
|
|
// -------------------- Methods -------------------- //
|
|
|
|
/// Constructor
|
|
Scene(Viewer* viewer, const std::string& shaderFolderPath,
|
|
const std::string& meshFolderPath);
|
|
|
|
/// Destructor
|
|
~Scene();
|
|
|
|
/// Take a step for the simulation
|
|
void simulate();
|
|
|
|
/// Stop the simulation
|
|
void stopSimulation();
|
|
|
|
/// Start the simulation
|
|
void startSimulation();
|
|
|
|
/// Pause or continue simulation
|
|
void pauseContinueSimulation();
|
|
|
|
/// Render the scene
|
|
void render();
|
|
};
|
|
|
|
// Stop the simulation
|
|
inline void Scene::stopSimulation() {
|
|
mDynamicsWorld->stop();
|
|
mIsRunning = false;
|
|
}
|
|
|
|
// Start the simulation
|
|
inline void Scene::startSimulation() {
|
|
mDynamicsWorld->start();
|
|
mIsRunning = true;
|
|
}
|
|
|
|
// Pause or continue simulation
|
|
inline void Scene::pauseContinueSimulation() {
|
|
if (mIsRunning) {
|
|
stopSimulation();
|
|
}
|
|
else {
|
|
startSimulation();
|
|
}
|
|
}
|
|
|
|
#endif
|