271 lines
10 KiB
C++
271 lines
10 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
|
|
* Copyright (c) 2010-2016 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 "CollisionShapesScene.h"
|
|
|
|
// Namespaces
|
|
using namespace openglframework;
|
|
using namespace collisionshapesscene;
|
|
|
|
// Constructor
|
|
CollisionShapesScene::CollisionShapesScene(const std::string& name, EngineSettings& settings)
|
|
: SceneDemo(name, settings, true, SCENE_RADIUS) {
|
|
|
|
std::string meshFolderPath("meshes/");
|
|
|
|
// Compute the radius and the center of the scene
|
|
openglframework::Vector3 center(0, 5, 0);
|
|
|
|
// Set the center of the scene
|
|
setScenePosition(center, SCENE_RADIUS);
|
|
|
|
// Gravity vector in the physics world
|
|
rp3d::Vector3 gravity(0, -9.81f, 0);
|
|
|
|
rp3d::PhysicsWorld::WorldSettings worldSettings;
|
|
worldSettings.worldName = name;
|
|
|
|
// Create the physics world for the physics simulation
|
|
rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
|
|
physicsWorld->setEventListener(this);
|
|
mPhysicsWorld = physicsWorld;
|
|
|
|
for (int i=0; i<NB_COMPOUND_SHAPES; i++) {
|
|
|
|
// Create a convex mesh and a corresponding rigid in the physics world
|
|
Dumbbell* dumbbell = new Dumbbell(true, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
|
|
|
|
// Set the box color
|
|
dumbbell->setColor(mObjectColorDemo);
|
|
dumbbell->setSleepingColor(mSleepingColorDemo);
|
|
|
|
// 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);
|
|
mPhysicsObjects.push_back(dumbbell);
|
|
}
|
|
|
|
// Create all the boxes of the scene
|
|
for (int i=0; i<NB_BOXES; i++) {
|
|
|
|
// Create a sphere and a corresponding rigid in the physics world
|
|
Box* box = new Box(BOX_SIZE, BOX_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
|
|
|
// Set the box color
|
|
box->setColor(mObjectColorDemo);
|
|
box->setSleepingColor(mSleepingColorDemo);
|
|
|
|
// 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);
|
|
mPhysicsObjects.push_back(box);
|
|
}
|
|
|
|
// Create all the spheres of the scene
|
|
for (int i=0; i<NB_SPHERES; i++) {
|
|
|
|
// Create a sphere and a corresponding rigid in the physics world
|
|
Sphere* sphere = new Sphere(SPHERE_RADIUS, BOX_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath);
|
|
|
|
// Add some rolling resistance
|
|
sphere->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08));
|
|
|
|
// Set the box color
|
|
sphere->setColor(mObjectColorDemo);
|
|
sphere->setSleepingColor(mSleepingColorDemo);
|
|
|
|
// 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);
|
|
mPhysicsObjects.push_back(sphere);
|
|
}
|
|
|
|
// Create all the capsules of the scene
|
|
for (int i=0; i<NB_CAPSULES; i++) {
|
|
|
|
// Create a cylinder and a corresponding rigid in the physics world
|
|
Capsule* capsule = new Capsule(true, CAPSULE_RADIUS, CAPSULE_HEIGHT, CAPSULE_MASS,
|
|
mPhysicsCommon, mPhysicsWorld, meshFolderPath);
|
|
|
|
capsule->getRigidBody()->getMaterial().setRollingResistance(rp3d::decimal(0.08f));
|
|
|
|
// Set the box color
|
|
capsule->setColor(mObjectColorDemo);
|
|
capsule->setSleepingColor(mSleepingColorDemo);
|
|
|
|
// 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);
|
|
mPhysicsObjects.push_back(capsule);
|
|
}
|
|
|
|
// Create all the convex meshes of the scene
|
|
for (int i=0; i<NB_MESHES; i++) {
|
|
|
|
// Create a convex mesh and a corresponding rigid in the physics world
|
|
ConvexMesh* mesh = new ConvexMesh(MESH_MASS, mPhysicsCommon, mPhysicsWorld, meshFolderPath + "convexmesh.obj");
|
|
|
|
// Set the box color
|
|
mesh->setColor(mObjectColorDemo);
|
|
mesh->setSleepingColor(mSleepingColorDemo);
|
|
|
|
// 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);
|
|
mPhysicsObjects.push_back(mesh);
|
|
}
|
|
|
|
// ---------- Create the floor ---------
|
|
|
|
mFloor = new Box(FLOOR_SIZE, FLOOR_MASS, mPhysicsCommon, mPhysicsWorld, mMeshFolderPath);
|
|
mPhysicsObjects.push_back(mFloor);
|
|
|
|
// Set the box color
|
|
mFloor->setColor(mFloorColorDemo);
|
|
mFloor->setSleepingColor(mFloorColorDemo);
|
|
|
|
// The floor must be a static rigid body
|
|
mFloor->getRigidBody()->setType(rp3d::BodyType::STATIC);
|
|
|
|
// Change the material properties of the rigid body
|
|
rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
|
|
material.setBounciness(rp3d::decimal(0.2));
|
|
|
|
// Get the physics engine parameters
|
|
mEngineSettings.isGravityEnabled = mPhysicsWorld->isGravityEnabled();
|
|
rp3d::Vector3 gravityVector = mPhysicsWorld->getGravity();
|
|
mEngineSettings.gravity = openglframework::Vector3(gravityVector.x, gravityVector.y, gravityVector.z);
|
|
mEngineSettings.isSleepingEnabled = mPhysicsWorld->isSleepingEnabled();
|
|
mEngineSettings.sleepLinearVelocity = mPhysicsWorld->getSleepLinearVelocity();
|
|
mEngineSettings.sleepAngularVelocity = mPhysicsWorld->getSleepAngularVelocity();
|
|
mEngineSettings.nbPositionSolverIterations = mPhysicsWorld->getNbIterationsPositionSolver();
|
|
mEngineSettings.nbVelocitySolverIterations = mPhysicsWorld->getNbIterationsVelocitySolver();
|
|
mEngineSettings.timeBeforeSleep = mPhysicsWorld->getTimeBeforeSleep();
|
|
}
|
|
|
|
// Destructor
|
|
CollisionShapesScene::~CollisionShapesScene() {
|
|
|
|
// Destroy all the physics objects of the scene
|
|
for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
|
|
|
|
// Destroy the corresponding rigid body from the physics world
|
|
mPhysicsWorld->destroyRigidBody((*it)->getRigidBody());
|
|
|
|
// Destroy the object
|
|
delete (*it);
|
|
}
|
|
|
|
// Destroy the physics world
|
|
mPhysicsCommon.destroyPhysicsWorld(static_cast<rp3d::PhysicsWorld*>(mPhysicsWorld));
|
|
}
|
|
|
|
/// Reset the scene
|
|
void CollisionShapesScene::reset() {
|
|
|
|
SceneDemo::reset();
|
|
|
|
const float radius = 3.0f;
|
|
|
|
for (uint i = 0; i<NB_COMPOUND_SHAPES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
rp3d::Vector3 position(radius * std::cos(angle),
|
|
125 + i * (DUMBBELL_HEIGHT + 0.3f),
|
|
radius * std::sin(angle));
|
|
|
|
mDumbbells[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
|
}
|
|
|
|
// Create all the boxes of the scene
|
|
for (uint i = 0; i<NB_BOXES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
rp3d::Vector3 position(radius * std::cos(angle),
|
|
85 + i * (BOX_SIZE.y + 0.8f),
|
|
radius * std::sin(angle));
|
|
|
|
mBoxes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
|
}
|
|
|
|
// Create all the spheres of the scene
|
|
for (uint i = 0; i<NB_SPHERES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 35.0f;
|
|
rp3d::Vector3 position(radius * std::cos(angle),
|
|
75 + i * (SPHERE_RADIUS + 0.8f),
|
|
radius * std::sin(angle));
|
|
|
|
mSpheres[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
|
}
|
|
|
|
// Create all the capsules of the scene
|
|
for (uint i = 0; i<NB_CAPSULES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 45.0f;
|
|
rp3d::Vector3 position(radius * std::cos(angle),
|
|
40 + i * (CAPSULE_HEIGHT + 0.3f),
|
|
radius * std::sin(angle));
|
|
|
|
mCapsules[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
|
}
|
|
|
|
// Create all the convex meshes of the scene
|
|
for (uint i = 0; i<NB_MESHES; i++) {
|
|
|
|
// Position
|
|
float angle = i * 30.0f;
|
|
rp3d::Vector3 position(radius * std::cos(angle),
|
|
30 + i * (CAPSULE_HEIGHT + 0.3f),
|
|
radius * std::sin(angle));
|
|
|
|
mConvexMeshes[i]->setTransform(rp3d::Transform(position, rp3d::Quaternion::identity()));
|
|
}
|
|
|
|
// ---------- Create the triangular mesh ---------- //
|
|
|
|
mFloor->setTransform(rp3d::Transform::identity());
|
|
}
|