458 lines
19 KiB
C++
458 lines
19 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 "JointsScene.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 jointsscene;
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// Constructor
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JointsScene::JointsScene(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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// Create the Ball-and-Socket joint
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createBallAndSocketJoints();
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// Create the Slider joint
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createSliderJoint();
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// Create the Hinge joint
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createPropellerHingeJoint();
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// Create the Fixed joint
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createFixedJoints();
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// Create the floor
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createFloor();
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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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JointsScene::~JointsScene() {
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// Destroy the joints
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mDynamicsWorld->destroyJoint(mSliderJoint);
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mDynamicsWorld->destroyJoint(mPropellerHingeJoint);
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mDynamicsWorld->destroyJoint(mFixedJoint1);
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mDynamicsWorld->destroyJoint(mFixedJoint2);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
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mDynamicsWorld->destroyJoint(mBallAndSocketJoints[i]);
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}
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// Destroy all the rigid bodies of the scene
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mDynamicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
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mDynamicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mDynamicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
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}
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delete mSliderJointBottomBox;
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delete mSliderJointTopBox;
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delete mPropellerBox;
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delete mFixedJointBox1;
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delete mFixedJointBox2;
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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delete mBallAndSocketJointChainBoxes[i];
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}
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// Destroy the floor
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mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
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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 JointsScene::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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// Update the motor speed of the Slider Joint (to move up and down)
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long double motorSpeed = 2 * cos(mEngineSettings.elapsedTime * 1.5);
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mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed));
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// Take a simulation step
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mDynamicsWorld->update(mEngineSettings.timeStep);
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}
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// Take a step for the simulation
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void JointsScene::update() {
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// Update the position and orientation of the boxes
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mSliderJointBottomBox->updateTransform(mInterpolationFactor);
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mSliderJointTopBox->updateTransform(mInterpolationFactor);
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mPropellerBox->updateTransform(mInterpolationFactor);
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mFixedJointBox1->updateTransform(mInterpolationFactor);
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mFixedJointBox2->updateTransform(mInterpolationFactor);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mBallAndSocketJointChainBoxes[i]->updateTransform(mInterpolationFactor);
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}
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// Update the position and orientation of the floor
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mFloor->updateTransform(mInterpolationFactor);
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}
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// Render the scene
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void JointsScene::renderSinglePass(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the shader
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shader.bind();
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// Render all the boxes
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mSliderJointBottomBox->render(shader, worldToCameraMatrix);
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mSliderJointTopBox->render(shader, worldToCameraMatrix);
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mPropellerBox->render(shader, worldToCameraMatrix);
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mFixedJointBox1->render(shader, worldToCameraMatrix);
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mFixedJointBox2->render(shader, worldToCameraMatrix);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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mBallAndSocketJointChainBoxes[i]->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 JointsScene::reset() {
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openglframework::Vector3 positionBox(0, 15, 5);
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openglframework::Vector3 boxDimension(1, 1, 1);
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(positionBox.x, positionBox.y, positionBox.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mBallAndSocketJointChainBoxes[i]->resetTransform(transform);
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positionBox.y -= boxDimension.y + 0.5f;
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}
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// --------------- Slider Joint --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(0, 2.1f, 0);
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rp3d::Vector3 initPosition(positionBox1.x, positionBox1.y, positionBox1.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transformBottomBox(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mSliderJointBottomBox->resetTransform(transformBottomBox);
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// Position of the box
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openglframework::Vector3 positionBox2(0, 4.2f, 0);
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initPosition = rp3d::Vector3(positionBox2.x, positionBox2.y, positionBox2.z);
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initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transformTopBox(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mSliderJointTopBox->resetTransform(transformTopBox);
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// --------------- Propeller Hinge joint --------------- //
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// Position of the box
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positionBox1 = openglframework::Vector3(0, 7, 0);
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initPosition = rp3d::Vector3(positionBox1.x, positionBox1.y, positionBox1.z);
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initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transformHingeBox(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mPropellerBox->resetTransform(transformHingeBox);
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// --------------- Fixed joint --------------- //
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// Position of the box
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positionBox1 = openglframework::Vector3(5, 7, 0);
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initPosition = rp3d::Vector3(positionBox1.x, positionBox1.y, positionBox1.z);
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initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transformFixedBox1(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mFixedJointBox1->resetTransform(transformFixedBox1);
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// Position of the box
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positionBox2 = openglframework::Vector3(-5, 7, 0);
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initPosition = rp3d::Vector3(positionBox2.x, positionBox2.y, positionBox2.z);
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initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transformFixedBox2(initPosition, initOrientation);
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// Create a box and a corresponding rigid in the dynamics world
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mFixedJointBox2->resetTransform(transformFixedBox2);
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}
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// Create the boxes and joints for the Ball-and-Socket joint example
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void JointsScene::createBallAndSocketJoints() {
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// --------------- Create the boxes --------------- //
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openglframework::Vector3 positionBox(0, 15, 5);
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openglframework::Vector3 boxDimension(1, 1, 1);
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const float boxMass = 0.5f;
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
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// Create a box and a corresponding rigid in the dynamics world
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mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, positionBox , boxMass,
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mDynamicsWorld);
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// The fist box cannot move (static body)
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if (i == 0) {
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mBallAndSocketJointChainBoxes[i]->getRigidBody()->setType(rp3d::STATIC);
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}
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// Add some angular velocity damping
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mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(rp3d::decimal(0.2));
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// Change the material properties of the rigid body
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rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.4));
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positionBox.y -= boxDimension.y + 0.5f;
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}
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// --------------- Create the joints --------------- //
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for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
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// Create the joint info object
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rp3d::RigidBody* body1 = mBallAndSocketJointChainBoxes[i]->getRigidBody();
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rp3d::RigidBody* body2 = mBallAndSocketJointChainBoxes[i+1]->getRigidBody();
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rp3d::Vector3 body1Position = body1->getTransform().getPosition();
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rp3d::Vector3 body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
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rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
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// Create the joint in the dynamics world
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mBallAndSocketJoints[i] = dynamic_cast<rp3d::BallAndSocketJoint*>(
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mDynamicsWorld->createJoint(jointInfo));
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}
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}
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/// Create the boxes and joint for the Slider joint example
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void JointsScene::createSliderJoint() {
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// --------------- Create the first box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(0, 2.1f, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 box1Dimension(2, 4, 2);
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mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// The fist box cannot move
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mSliderJointBottomBox->getRigidBody()->setType(rp3d::STATIC);
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// Change the material properties of the rigid body
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rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
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material1.setBounciness(0.4f);
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// --------------- Create the second box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox2(0, 4.2f, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
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mSliderJointTopBox = new Box(box2Dimension, positionBox2, BOX_MASS, mDynamicsWorld);
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// Change the material properties of the rigid body
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rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
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material2.setBounciness(0.4f);
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// --------------- Create the joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mSliderJointBottomBox->getRigidBody();
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rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
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const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = rp3d::decimal(0.5) * (body2Position + body1Position);
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const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
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rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
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rp3d::decimal(-1.7), rp3d::decimal(1.7));
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jointInfo.isMotorEnabled = true;
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jointInfo.motorSpeed = 0.0;
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jointInfo.maxMotorForce = 10000.0;
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jointInfo.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(mDynamicsWorld->createJoint(jointInfo));
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}
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/// Create the boxes and joint for the Hinge joint example
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void JointsScene::createPropellerHingeJoint() {
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// --------------- Create the propeller box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(0, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 boxDimension(10, 1, 1);
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mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// Change the material properties of the rigid body
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rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
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material.setBounciness(rp3d::decimal(0.4));
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// --------------- Create the Hinge joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mPropellerBox->getRigidBody();
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rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
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const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
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const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
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const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
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const rp3d::Vector3 hingeAxisWorldSpace(0, 1, 0);
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rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
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jointInfo.isMotorEnabled = true;
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jointInfo.motorSpeed = - rp3d::decimal(0.5) * PI;
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jointInfo.maxMotorTorque = rp3d::decimal(60.0);
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jointInfo.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(mDynamicsWorld->createJoint(jointInfo));
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}
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/// Create the boxes and joints for the fixed joints
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void JointsScene::createFixedJoints() {
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// --------------- Create the first box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox1(5, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
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mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
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// Change the material properties of the rigid body
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rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
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material1.setBounciness(rp3d::decimal(0.4));
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// --------------- Create the second box --------------- //
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// Position of the box
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openglframework::Vector3 positionBox2(-5, 7, 0);
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// Create a box and a corresponding rigid in the dynamics world
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mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
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// Change the material properties of the rigid body
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rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
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material2.setBounciness(rp3d::decimal(0.4));
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// --------------- Create the first fixed joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body1 = mFixedJointBox1->getRigidBody();
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rp3d::RigidBody* propellerBody = mPropellerBox->getRigidBody();
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const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
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rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
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jointInfo1.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
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// --------------- Create the second fixed joint --------------- //
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// Create the joint info object
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rp3d::RigidBody* body2 = mFixedJointBox2->getRigidBody();
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const rp3d::Vector3 anchorPointWorldSpace2(-5, 7, 0);
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rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
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jointInfo2.isCollisionEnabled = false;
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// Create the joint in the dynamics world
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mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));
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}
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// Create the floor
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void JointsScene::createFloor() {
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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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// 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 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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}
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