reactphysics3d/examples/collisionshapes/Scene.cpp

481 lines
18 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. *
* *
********************************************************************************/
// Libraries
#include "Scene.h"
// Namespaces
using namespace openglframework;
// Constructor
Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::string& meshFolderPath)
: mViewer(viewer), mLight0(0),
mPhongShader(shaderFolderPath + "phong.vert",
shaderFolderPath +"phong.frag"), mIsRunning(false) {
// Move the light 0
mLight0.translateWorld(Vector3(50, 50, 50));
// Compute the radius and the center of the scene
float radiusScene = 30.0f;
openglframework::Vector3 center(0, 5, 0);
// Set the center of the scene
mViewer->setScenePosition(center, radiusScene);
// Gravity vector in the dynamics world
rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
// Time step for the physics simulation
rp3d::decimal timeStep = 1.0f / 60.0f;
// Create the dynamics world for the physics simulation
mDynamicsWorld = new rp3d::DynamicsWorld(gravity, timeStep);
// Set the number of iterations of the constraint solver
mDynamicsWorld->setNbIterationsVelocitySolver(15);
// Create the static data for the visual contact points
VisualContactPoint::createStaticData(meshFolderPath);
float radius = 3.0f;
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
80 + i * (DUMBBELL_HEIGHT + 0.3f),
radius * sin(angle));
// Create a convex mesh and a corresponding rigid in the dynamics world
Dumbbell* dumbbell = new Dumbbell(position, mDynamicsWorld, meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = dumbbell->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of dumbbells in the scene
mDumbbells.push_back(dumbbell);
}
// Create all the boxes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
60 + i * (BOX_SIZE.y + 0.8f),
radius * sin(angle));
// Create a sphere and a corresponding rigid in the dynamics world
Box* box = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
// Change the material properties of the rigid body
rp3d::Material& material = box->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
mBoxes.push_back(box);
}
// Create all the spheres of the scene
for (int i=0; i<NB_SPHERES; i++) {
// Position
float angle = i * 35.0f;
openglframework::Vector3 position(radius * cos(angle),
50 + i * (SPHERE_RADIUS + 0.8f),
radius * sin(angle));
// Create a sphere and a corresponding rigid in the dynamics world
Sphere* sphere = new Sphere(SPHERE_RADIUS, position , BOX_MASS, mDynamicsWorld,
meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = sphere->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the sphere the list of sphere in the scene
mSpheres.push_back(sphere);
}
// Create all the cones of the scene
for (int i=0; i<NB_CONES; i++) {
// Position
float angle = i * 50.0f;
openglframework::Vector3 position(radius * cos(angle),
35 + i * (CONE_HEIGHT + 0.3f),
radius * sin(angle));
// Create a cone and a corresponding rigid in the dynamics world
Cone* cone = new Cone(CONE_RADIUS, CONE_HEIGHT, position, CONE_MASS, mDynamicsWorld,
meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = cone->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cone the list of sphere in the scene
mCones.push_back(cone);
}
// Create all the cylinders of the scene
for (int i=0; i<NB_CYLINDERS; i++) {
// Position
float angle = i * 35.0f;
openglframework::Vector3 position(radius * cos(angle),
25 + i * (CYLINDER_HEIGHT + 0.3f),
radius * sin(angle));
// Create a cylinder and a corresponding rigid in the dynamics world
Cylinder* cylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position ,
CYLINDER_MASS, mDynamicsWorld, meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = cylinder->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
mCylinders.push_back(cylinder);
}
// Create all the capsules of the scene
for (int i=0; i<NB_CAPSULES; i++) {
// Position
float angle = i * 45.0f;
openglframework::Vector3 position(radius * cos(angle),
15 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Create a cylinder and a corresponding rigid in the dynamics world
Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position ,
CAPSULE_MASS, mDynamicsWorld, meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = capsule->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the cylinder the list of sphere in the scene
mCapsules.push_back(capsule);
}
// Create all the convex meshes of the scene
for (int i=0; i<NB_MESHES; i++) {
// Position
float angle = i * 30.0f;
openglframework::Vector3 position(radius * cos(angle),
5 + i * (CAPSULE_HEIGHT + 0.3f),
radius * sin(angle));
// Create a convex mesh and a corresponding rigid in the dynamics world
ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld, meshFolderPath);
// Change the material properties of the rigid body
rp3d::Material& material = mesh->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Add the mesh the list of sphere in the scene
mConvexMeshes.push_back(mesh);
}
// Create the floor
openglframework::Vector3 floorPosition(0, 0, 0);
mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
// The floor must be a static rigid body
mFloor->getRigidBody()->setType(rp3d::STATIC);
// Change the material properties of the rigid body
rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
material.setBounciness(rp3d::decimal(0.2));
// Start the simulation
startSimulation();
}
// Destructor
Scene::~Scene() {
// Stop the physics simulation
stopSimulation();
// Destroy the shader
mPhongShader.destroy();
// Destroy all the boxes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the box
delete (*it);
}
// Destroy all the sphere of the scene
for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the sphere
delete (*it);
}
// Destroy all the cones of the scene
for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the sphere
delete (*it);
}
// Destroy all the cylinders of the scene
for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the sphere
delete (*it);
}
// Destroy all the capsules of the scene
for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the sphere
delete (*it);
}
// Destroy all the convex meshes of the scene
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
it != mConvexMeshes.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the convex mesh
delete (*it);
}
// Destroy all the dumbbell of the scene
for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
it != mDumbbells.end(); ++it) {
// Destroy the corresponding rigid body from the dynamics world
mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
// Destroy the convex mesh
delete (*it);
}
// Destroy all the visual contact points
for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
it != mContactPoints.end(); ++it) {
delete (*it);
}
// Destroy the static data for the visual contact points
VisualContactPoint::destroyStaticData();
// Destroy the rigid body of the floor
mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
// Destroy the floor
delete mFloor;
// Destroy the dynamics world
delete mDynamicsWorld;
}
// Take a step for the simulation
void Scene::simulate() {
// If the physics simulation is running
if (mIsRunning) {
// Take a simulation step
mDynamicsWorld->update();
// Update the position and orientation of the boxes
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the sphere
for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the cones
for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the cylinders
for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the capsules
for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the convex meshes
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
it != mConvexMeshes.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Update the position and orientation of the dumbbells
for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
it != mDumbbells.end(); ++it) {
// Update the transform used for the rendering
(*it)->updateTransform();
}
// Destroy all the visual contact points
for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
it != mContactPoints.end(); ++it) {
delete (*it);
}
mContactPoints.clear();
// Generate the new visual contact points
const std::vector<rp3d::ContactManifold*>& manifolds = mDynamicsWorld->getContactManifolds();
for (std::vector<rp3d::ContactManifold*>::const_iterator it = manifolds.begin();
it != manifolds.end(); ++it) {
for (unsigned int i=0; i<(*it)->getNbContactPoints(); i++) {
rp3d::ContactPoint* point = (*it)->getContactPoint(i);
const rp3d::Vector3 pos = point->getWorldPointOnBody1();
openglframework::Vector3 position(pos.x, pos.y, pos.z);
VisualContactPoint* visualPoint = new VisualContactPoint(position);
mContactPoints.push_back(visualPoint);
}
}
mFloor->updateTransform();
}
}
// Render the scene
void Scene::render() {
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_CULL_FACE);
// Get the world-space to camera-space matrix
const Camera& camera = mViewer->getCamera();
const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse();
// Bind the shader
mPhongShader.bind();
// Set the variables of the shader
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
const Color& diffColLight0 = mLight0.getDiffuseColor();
const Color& specColLight0 = mLight0.getSpecularColor();
mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b));
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b));
mPhongShader.setFloatUniform("shininess", 200.0f);
// Render all the boxes of the scene
for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the sphere of the scene
for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the cones of the scene
for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the cylinders of the scene
for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the capsules of the scene
for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the convex meshes of the scene
for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
it != mConvexMeshes.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the dumbbells of the scene
for (std::vector<Dumbbell*>::iterator it = mDumbbells.begin();
it != mDumbbells.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render all the visual contact points
for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
it != mContactPoints.end(); ++it) {
(*it)->render(mPhongShader, worldToCameraMatrix);
}
// Render the floor
mFloor->render(mPhongShader, worldToCameraMatrix);
// Unbind the shader
mPhongShader.unbind();
}