166 lines
5.8 KiB
C++
166 lines
5.8 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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#ifndef COLLISION_DETECTION_SCENE_H
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#define COLLISION_DETECTION_SCENE_H
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// Libraries
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#include <cmath>
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#include "openglframework.h"
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#include "reactphysics3d.h"
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#include "SceneDemo.h"
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#include "Sphere.h"
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#include "Box.h"
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#include "Capsule.h"
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#include "Line.h"
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#include "ConvexMesh.h"
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#include "ConcaveMesh.h"
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#include "HeightField.h"
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#include "Dumbbell.h"
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#include "VisualContactPoint.h"
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namespace collisiondetectionscene {
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// Constants
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const float SCENE_RADIUS = 30.0f;
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const openglframework::Vector3 BOX_SIZE(4, 2, 1);
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const float SPHERE_RADIUS = 3.0f;
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const float CONE_RADIUS = 3.0f;
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const float CONE_HEIGHT = 5.0f;
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const float CYLINDER_RADIUS = 3.0f;
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const float CYLINDER_HEIGHT = 5.0f;
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const float CAPSULE_RADIUS = 1.0f;
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const float CAPSULE_HEIGHT = 1.0f;
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const float DUMBBELL_HEIGHT = 5.0f;
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const int NB_RAYS = 100;
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const float RAY_LENGTH = 30.0f;
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const int NB_BODIES = 9;
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// Contact manager
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class ContactManager : public rp3d::CollisionCallback {
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private:
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/// Contact point mesh folder path
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std::string mMeshFolderPath;
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/// Reference to the list of all the visual contact points
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std::vector<SceneContactPoint>& mContactPoints;
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public:
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ContactManager(openglframework::Shader& shader, const std::string& meshFolderPath,
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std::vector<SceneContactPoint>& contactPoints)
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: mMeshFolderPath(meshFolderPath), mContactPoints(contactPoints) {
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}
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/// This method is called when some contacts occur
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virtual void onContact(const CallbackData& callbackData) override;
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};
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// Class CollisionDetectionScene
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class CollisionDetectionScene : public SceneDemo {
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private :
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// -------------------- Attributes -------------------- //
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/// Contact point mesh folder path
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std::string mMeshFolderPath;
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/// Contact manager
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ContactManager mContactManager;
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bool mAreNormalsDisplayed;
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/// All objects on the scene
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//Box* mBox;
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Sphere* mSphere1;
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Sphere* mSphere2;
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Capsule* mCapsule1;
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Capsule* mCapsule2;
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Box* mBox1;
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Box* mBox2;
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ConvexMesh* mConvexMesh;
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//Dumbbell* mDumbbell;
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ConcaveMesh* mConcaveMesh;
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HeightField* mHeightField;
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std::vector<PhysicsObject*> mAllShapes;
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unsigned int mSelectedShapeIndex;
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/// Select the next shape
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void selectNextShape();
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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CollisionDetectionScene(const std::string& name, EngineSettings& settings);
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/// Destructor
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virtual ~CollisionDetectionScene() override;
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/// Take a step for the simulation
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virtual void update() override;
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/// Reset the scene
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virtual void reset() override;
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/// Display or not the surface normals at hit points
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void showHideNormals();
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/// Called when a keyboard event occurs
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virtual bool keyboardEvent(int key, int scancode, int action, int mods) override;
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/// Enabled/Disable the shadow mapping
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virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override;
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/// Display/Hide the contact points
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virtual void setIsContactPointsDisplayed(bool display) override;
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};
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// Display or not the surface normals at hit points
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inline void CollisionDetectionScene::showHideNormals() {
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mAreNormalsDisplayed = !mAreNormalsDisplayed;
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}
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// Enabled/Disable the shadow mapping
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inline void CollisionDetectionScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) {
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SceneDemo::setIsShadowMappingEnabled(false);
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}
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// Display/Hide the contact points
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inline void CollisionDetectionScene::setIsContactPointsDisplayed(bool display) {
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SceneDemo::setIsContactPointsDisplayed(true);
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}
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}
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#endif
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