reactphysics3d/testbed/scenes/hingejointschain/HingeJointsChainScene.cpp

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2016 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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*    appreciated but is not required.                                           *
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*    misrepresented as being the original software.                             *
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// Libraries
#include "HingeJointsChainScene.h"
#include <cmath>

// Namespaces
using namespace openglframework;
using namespace hingejointschainscene;

// Constructor
HingeJointsChainScene::HingeJointsChainScene(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, 0, 0);

    // Set the center of the scene
    setScenePosition(center, SCENE_RADIUS);

    // Gravity vector in the physics world
    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);

    rp3d::PhysicsWorld::WorldSettings worldSettings;
    worldSettings.worldName = name;

    // Logger
    rp3d::DefaultLogger* defaultLogger = mPhysicsCommon.createDefaultLogger();
    uint logLevel = static_cast<uint>(rp3d::Logger::Level::Information) | static_cast<uint>(rp3d::Logger::Level::Warning) |
            static_cast<uint>(rp3d::Logger::Level::Error);
    defaultLogger->addFileDestination("rp3d_log_" + name + ".html", logLevel, rp3d::DefaultLogger::Format::HTML);
    mPhysicsCommon.setLogger(defaultLogger);

    // Create the physics world for the physics simulation
    rp3d::PhysicsWorld* physicsWorld = mPhysicsCommon.createPhysicsWorld(worldSettings);
    physicsWorld->setEventListener(this);
    mPhysicsWorld = physicsWorld;

    // Create all the boxes of the scene
    for (int i=0; i<NB_BOXES; i++) {

        // Create a box and a corresponding rigid in the physics world
        mBoxes[i] = new Box(true, BOX_SIZE, mPhysicsCommon, mPhysicsWorld, meshFolderPath);

        // Set the box color
        mBoxes[i]->setColor(mObjectColorDemo);
        mBoxes[i]->setSleepingColor(mSleepingColorDemo);

        // Change the material properties of the rigid body
        rp3d::Material& material = mBoxes[i]->getCollider()->getMaterial();
        material.setBounciness(rp3d::decimal(0.0));

        if (i == 0) {
            mBoxes[i]->getRigidBody()->setType(rp3d::BodyType::STATIC);
        }

        // Add the box the list of boxes in the scene
        mPhysicsObjects.push_back(mBoxes[i]);
    }

    // Set the position of the boxes before the joints creation
    reset();

    // Create the Ball-and-Socket joints
    createJoints();

    // 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
HingeJointsChainScene::~HingeJointsChainScene() {

    // Destroy the joints
    for (uint i=0; i < mHingeJoints.size(); i++) {

        mPhysicsWorld->destroyJoint(mHingeJoints[i]);
    }

    // Destroy all the rigid bodies of the scene
    for (int i=0; i<NB_BOXES; i++) {

        mPhysicsWorld->destroyRigidBody(mBoxes[i]->getRigidBody());
    }

    // Destroy the physics world
    mPhysicsCommon.destroyPhysicsWorld(mPhysicsWorld);
}

// Create the joints
void HingeJointsChainScene::createJoints() {

    for (int i=0; i < NB_BOXES-1; i++) {

        // Create the joint info object
        rp3d::RigidBody* body1 = mBoxes[i]->getRigidBody();
        rp3d::RigidBody* body2 = mBoxes[i+1]->getRigidBody();
        rp3d::Vector3 body1Position = body1->getTransform().getPosition();
        rp3d::Vector3 body2Position = body2->getTransform().getPosition();
        const rp3d::Vector3 anchorPointWorldSpace = body1Position + rp3d::Vector3(BOX_SIZE.x / 2.0f, 0, 0);
        rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, rp3d::Vector3(0, 0, 1));
        jointInfo.isCollisionEnabled = false;
        rp3d::HingeJoint* joint = dynamic_cast<rp3d::HingeJoint*>(mPhysicsWorld->createJoint(jointInfo));
        mHingeJoints.push_back(joint);
    }
}

// Reset the scene
void HingeJointsChainScene::reset() {

    SceneDemo::reset();

    const float space = 0.3f;

    const rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();

    for (int i=0; i<NB_BOXES; i++) {

        // Initial position and orientation of the rigid body
        rp3d::Vector3 initPosition(i * (BOX_SIZE.x + space), 20, 0);
        rp3d::Transform transform(initPosition, initOrientation);

        // Create a box and a corresponding rigid in the physics world
        mBoxes[i]->setTransform(transform);
    }
}