485 lines
19 KiB
C++
485 lines
19 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.ephysics.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 <ephysics/JointsScene.hpp>
|
|
#include <cmath>
|
|
|
|
// Namespaces
|
|
using namespace openglframework;
|
|
using namespace jointsscene;
|
|
|
|
// Constructor
|
|
JointsScene::JointsScene(const etk::String& name)
|
|
: SceneDemo(name, SCENE_RADIUS) {
|
|
|
|
// Compute the radius and the center of the scene
|
|
openglframework::vec3 center(0, 5, 0);
|
|
|
|
// Set the center of the scene
|
|
setScenePosition(center, SCENE_RADIUS);
|
|
|
|
// Gravity vector in the dynamics world
|
|
ephysics::vec3 gravity(0, ephysics::float(-9.81), 0);
|
|
|
|
// Create the dynamics world for the physics simulation
|
|
mDynamicsWorld = new ephysics::DynamicsWorld(gravity);
|
|
|
|
// Set the number of iterations of the constraint solver
|
|
mDynamicsWorld->setNbIterationsVelocitySolver(15);
|
|
|
|
// Create the Ball-and-Socket joint
|
|
createBallAndSocketJoints();
|
|
|
|
// Create the Slider joint
|
|
createSliderJoint();
|
|
|
|
// Create the Hinge joint
|
|
createPropellerHingeJoint();
|
|
|
|
// Create the Fixed joint
|
|
createFixedJoints();
|
|
|
|
// Create the floor
|
|
createFloor();
|
|
|
|
// Get the physics engine parameters
|
|
mEngineSettings.isGravityEnabled = mDynamicsWorld->isGravityEnabled();
|
|
ephysics::vec3 gravityVector = mDynamicsWorld->getGravity();
|
|
mEngineSettings.gravity = openglframework::vec3(gravityVector.x(), gravityVector.y(), gravityVector.z());
|
|
mEngineSettings.isSleepingEnabled = mDynamicsWorld->isSleepingEnabled();
|
|
mEngineSettings.sleepLinearVelocity = mDynamicsWorld->getSleepLinearVelocity();
|
|
mEngineSettings.sleepAngularVelocity = mDynamicsWorld->getSleepAngularVelocity();
|
|
mEngineSettings.nbPositionSolverIterations = mDynamicsWorld->getNbIterationsPositionSolver();
|
|
mEngineSettings.nbVelocitySolverIterations = mDynamicsWorld->getNbIterationsVelocitySolver();
|
|
mEngineSettings.timeBeforeSleep = mDynamicsWorld->getTimeBeforeSleep();
|
|
}
|
|
|
|
// Destructor
|
|
JointsScene::~JointsScene() {
|
|
|
|
// Destroy the joints
|
|
mDynamicsWorld->destroyJoint(mSliderJoint);
|
|
mDynamicsWorld->destroyJoint(mPropellerHingeJoint);
|
|
mDynamicsWorld->destroyJoint(mFixedJoint1);
|
|
mDynamicsWorld->destroyJoint(mFixedJoint2);
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
|
|
mDynamicsWorld->destroyJoint(mBallAndSocketJoints[i]);
|
|
}
|
|
|
|
// Destroy all the rigid bodies of the scene
|
|
mDynamicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
|
|
mDynamicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
|
|
mDynamicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
|
|
mDynamicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
|
|
mDynamicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
mDynamicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
|
|
}
|
|
|
|
delete mSliderJointBottomBox;
|
|
delete mSliderJointTopBox;
|
|
delete mPropellerBox;
|
|
delete mFixedJointBox1;
|
|
delete mFixedJointBox2;
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
delete mBallAndSocketJointChainBoxes[i];
|
|
}
|
|
|
|
// Destroy the floor
|
|
mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
|
|
delete mFloor;
|
|
|
|
// Destroy the dynamics world
|
|
delete mDynamicsWorld;
|
|
}
|
|
|
|
// Update the physics world (take a simulation step)
|
|
void JointsScene::updatePhysics() {
|
|
|
|
// Update the physics engine parameters
|
|
mDynamicsWorld->setIsGratityEnabled(mEngineSettings.isGravityEnabled);
|
|
ephysics::vec3 gravity(mEngineSettings.gravity.x(), mEngineSettings.gravity.y(),
|
|
mEngineSettings.gravity.z());
|
|
mDynamicsWorld->setGravity(gravity);
|
|
mDynamicsWorld->enableSleeping(mEngineSettings.isSleepingEnabled);
|
|
mDynamicsWorld->setSleepLinearVelocity(mEngineSettings.sleepLinearVelocity);
|
|
mDynamicsWorld->setSleepAngularVelocity(mEngineSettings.sleepAngularVelocity);
|
|
mDynamicsWorld->setNbIterationsPositionSolver(mEngineSettings.nbPositionSolverIterations);
|
|
mDynamicsWorld->setNbIterationsVelocitySolver(mEngineSettings.nbVelocitySolverIterations);
|
|
mDynamicsWorld->setTimeBeforeSleep(mEngineSettings.timeBeforeSleep);
|
|
|
|
// Update the motor speed of the Slider Joint (to move up and down)
|
|
long double motorSpeed = 2 * cos(mEngineSettings.elapsedTime * 1.5);
|
|
mSliderJoint->setMotorSpeed(ephysics::float(motorSpeed));
|
|
|
|
// Take a simulation step
|
|
mDynamicsWorld->update(mEngineSettings.timeStep);
|
|
}
|
|
|
|
// Take a step for the simulation
|
|
void JointsScene::update() {
|
|
|
|
SceneDemo::update();
|
|
|
|
// Update the position and orientation of the boxes
|
|
mSliderJointBottomBox->updateetk::Transform3D(mInterpolationFactor);
|
|
mSliderJointTopBox->updateetk::Transform3D(mInterpolationFactor);
|
|
mPropellerBox->updateetk::Transform3D(mInterpolationFactor);
|
|
mFixedJointBox1->updateetk::Transform3D(mInterpolationFactor);
|
|
mFixedJointBox2->updateetk::Transform3D(mInterpolationFactor);
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
mBallAndSocketJointChainBoxes[i]->updateetk::Transform3D(mInterpolationFactor);
|
|
}
|
|
|
|
// Update the position and orientation of the floor
|
|
mFloor->updateetk::Transform3D(mInterpolationFactor);
|
|
}
|
|
|
|
// Render the scene
|
|
void JointsScene::renderSinglePass(openglframework::Shader& shader,
|
|
const openglframework::Matrix4& worldToCameraMatrix) {
|
|
|
|
// Bind the shader
|
|
shader.bind();
|
|
|
|
// Render all the boxes
|
|
mSliderJointBottomBox->render(shader, worldToCameraMatrix);
|
|
mSliderJointTopBox->render(shader, worldToCameraMatrix);
|
|
mPropellerBox->render(shader, worldToCameraMatrix);
|
|
mFixedJointBox1->render(shader, worldToCameraMatrix);
|
|
mFixedJointBox2->render(shader, worldToCameraMatrix);
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
mBallAndSocketJointChainBoxes[i]->render(shader, worldToCameraMatrix);
|
|
}
|
|
|
|
// Render the floor
|
|
mFloor->render(shader, worldToCameraMatrix);
|
|
|
|
// Unbind the shader
|
|
shader.unbind();
|
|
}
|
|
|
|
// Reset the scene
|
|
void JointsScene::reset() {
|
|
|
|
openglframework::vec3 positionBox(0, 15, 5);
|
|
openglframework::vec3 boxDimension(1, 1, 1);
|
|
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
|
|
// Initial position and orientation of the rigid body
|
|
ephysics::vec3 initPosition(positionBox.x(), positionBox.y(), positionBox.z());
|
|
ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
|
|
ephysics::etk::Transform3D transform(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mBallAndSocketJointChainBoxes[i]->resetTransform(transform);
|
|
|
|
positionBox.y() -= boxDimension.y + 0.5f;
|
|
}
|
|
|
|
// --------------- Slider Joint --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox1(0, 2.1f, 0);
|
|
ephysics::vec3 initPosition(positionBox1.x(), positionBox1.y(), positionBox1.z());
|
|
ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
|
|
ephysics::etk::Transform3D transformBottomBox(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mSliderJointBottomBox->resetTransform(transformBottomBox);
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox2(0, 4.2f, 0);
|
|
initPosition = ephysics::vec3(positionBox2.x(), positionBox2.y(), positionBox2.z());
|
|
initOrientation = ephysics::etk::Quaternion::identity();
|
|
ephysics::etk::Transform3D transformTopBox(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mSliderJointTopBox->resetTransform(transformTopBox);
|
|
|
|
// --------------- Propeller Hinge joint --------------- //
|
|
|
|
// Position of the box
|
|
positionBox1 = openglframework::vec3(0, 7, 0);
|
|
initPosition = ephysics::vec3(positionBox1.x(), positionBox1.y(), positionBox1.z());
|
|
initOrientation = ephysics::etk::Quaternion::identity();
|
|
ephysics::etk::Transform3D transformHingeBox(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mPropellerBox->resetTransform(transformHingeBox);
|
|
|
|
// --------------- Fixed joint --------------- //
|
|
|
|
// Position of the box
|
|
positionBox1 = openglframework::vec3(5, 7, 0);
|
|
initPosition = ephysics::vec3(positionBox1.x(), positionBox1.y(), positionBox1.z());
|
|
initOrientation = ephysics::etk::Quaternion::identity();
|
|
ephysics::etk::Transform3D transformFixedBox1(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mFixedJointBox1->resetTransform(transformFixedBox1);
|
|
|
|
// Position of the box
|
|
positionBox2 = openglframework::vec3(-5, 7, 0);
|
|
initPosition = ephysics::vec3(positionBox2.x(), positionBox2.y(), positionBox2.z());
|
|
initOrientation = ephysics::etk::Quaternion::identity();
|
|
ephysics::etk::Transform3D transformFixedBox2(initPosition, initOrientation);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mFixedJointBox2->resetTransform(transformFixedBox2);
|
|
}
|
|
|
|
// Create the boxes and joints for the Ball-and-Socket joint example
|
|
void JointsScene::createBallAndSocketJoints() {
|
|
|
|
// --------------- Create the boxes --------------- //
|
|
|
|
openglframework::vec3 positionBox(0, 15, 5);
|
|
openglframework::vec3 boxDimension(1, 1, 1);
|
|
const float boxMass = 0.5f;
|
|
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, positionBox , boxMass,
|
|
mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mBallAndSocketJointChainBoxes[i]->setColor(mDemoColors[i % mNbDemoColors]);
|
|
mBallAndSocketJointChainBoxes[i]->setSleepingColor(mRedColorDemo);
|
|
|
|
// The fist box cannot move (static body)
|
|
if (i == 0) {
|
|
mBallAndSocketJointChainBoxes[i]->getRigidBody()->setType(ephysics::STATIC);
|
|
}
|
|
|
|
// Add some angular velocity damping
|
|
mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(ephysics::float(0.2));
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
|
|
material.setBounciness(ephysics::float(0.4));
|
|
|
|
positionBox.y() -= boxDimension.y + 0.5f;
|
|
}
|
|
|
|
// --------------- Create the joints --------------- //
|
|
|
|
for (int32_t i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
|
|
|
|
// Create the joint info object
|
|
ephysics::RigidBody* body1 = mBallAndSocketJointChainBoxes[i]->getRigidBody();
|
|
ephysics::RigidBody* body2 = mBallAndSocketJointChainBoxes[i+1]->getRigidBody();
|
|
ephysics::vec3 body1Position = body1->getTransform().getPosition();
|
|
ephysics::vec3 body2Position = body2->getTransform().getPosition();
|
|
const ephysics::vec3 m_anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
|
|
ephysics::BallAndSocketJointInfo jointInfo(body1, body2, m_anchorPointWorldSpace);
|
|
|
|
// Create the joint in the dynamics world
|
|
mBallAndSocketJoints[i] = dynamic_cast<ephysics::BallAndSocketJoint*>(
|
|
mDynamicsWorld->createJoint(jointInfo));
|
|
}
|
|
}
|
|
|
|
/// Create the boxes and joint for the Slider joint example
|
|
void JointsScene::createSliderJoint() {
|
|
|
|
// --------------- Create the first box --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox1(0, 2.1f, 0);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
openglframework::vec3 box1Dimension(2, 4, 2);
|
|
mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mSliderJointBottomBox->setColor(mBlueColorDemo);
|
|
mSliderJointBottomBox->setSleepingColor(mRedColorDemo);
|
|
|
|
// The fist box cannot move
|
|
mSliderJointBottomBox->getRigidBody()->setType(ephysics::STATIC);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
|
|
material1.setBounciness(0.4f);
|
|
|
|
// --------------- Create the second box --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox2(0, 4.2f, 0);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
openglframework::vec3 box2Dimension(1.5f, 4, 1.5f);
|
|
mSliderJointTopBox = new Box(box2Dimension, positionBox2, BOX_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mSliderJointTopBox->setColor(mOrangeColorDemo);
|
|
mSliderJointTopBox->setSleepingColor(mRedColorDemo);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
|
|
material2.setBounciness(0.4f);
|
|
|
|
// --------------- Create the joint --------------- //
|
|
|
|
// Create the joint info object
|
|
ephysics::RigidBody* body1 = mSliderJointBottomBox->getRigidBody();
|
|
ephysics::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
|
|
const ephysics::vec3& body1Position = body1->getTransform().getPosition();
|
|
const ephysics::vec3& body2Position = body2->getTransform().getPosition();
|
|
const ephysics::vec3 m_anchorPointWorldSpace = ephysics::0.5f * (body2Position + body1Position);
|
|
const ephysics::vec3 sliderAxisWorldSpace = (body2Position - body1Position);
|
|
ephysics::SliderJointInfo jointInfo(body1, body2, m_anchorPointWorldSpace, sliderAxisWorldSpace,
|
|
ephysics::float(-1.7), ephysics::float(1.7));
|
|
jointInfo.isMotorEnabled = true;
|
|
jointInfo.motorSpeed = 0.0;
|
|
jointInfo.maxMotorForce = 10000.0;
|
|
jointInfo.isCollisionEnabled = false;
|
|
|
|
// Create the joint in the dynamics world
|
|
mSliderJoint = dynamic_cast<ephysics::SliderJoint*>(mDynamicsWorld->createJoint(jointInfo));
|
|
}
|
|
|
|
/// Create the boxes and joint for the Hinge joint example
|
|
void JointsScene::createPropellerHingeJoint() {
|
|
|
|
// --------------- Create the propeller box --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox1(0, 7, 0);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
openglframework::vec3 boxDimension(10, 1, 1);
|
|
mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mPropellerBox->setColor(mYellowColorDemo);
|
|
mPropellerBox->setSleepingColor(mRedColorDemo);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material = mPropellerBox->getRigidBody()->getMaterial();
|
|
material.setBounciness(ephysics::float(0.4));
|
|
|
|
// --------------- Create the Hinge joint --------------- //
|
|
|
|
// Create the joint info object
|
|
ephysics::RigidBody* body1 = mPropellerBox->getRigidBody();
|
|
ephysics::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
|
|
const ephysics::vec3& body1Position = body1->getTransform().getPosition();
|
|
const ephysics::vec3& body2Position = body2->getTransform().getPosition();
|
|
const ephysics::vec3 m_anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
|
|
const ephysics::vec3 hingeAxisWorldSpace(0, 1, 0);
|
|
ephysics::HingeJointInfo jointInfo(body1, body2, m_anchorPointWorldSpace, hingeAxisWorldSpace);
|
|
jointInfo.isMotorEnabled = true;
|
|
jointInfo.motorSpeed = - ephysics::0.5f * PI;
|
|
jointInfo.maxMotorTorque = ephysics::float(60.0);
|
|
jointInfo.isCollisionEnabled = false;
|
|
|
|
// Create the joint in the dynamics world
|
|
mPropellerHingeJoint = dynamic_cast<ephysics::HingeJoint*>(mDynamicsWorld->createJoint(jointInfo));
|
|
}
|
|
|
|
/// Create the boxes and joints for the fixed joints
|
|
void JointsScene::createFixedJoints() {
|
|
|
|
// --------------- Create the first box --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox1(5, 7, 0);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
openglframework::vec3 boxDimension(1.5, 1.5, 1.5);
|
|
mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mFixedJointBox1->setColor(mPinkColorDemo);
|
|
mFixedJointBox1->setSleepingColor(mRedColorDemo);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
|
|
material1.setBounciness(ephysics::float(0.4));
|
|
|
|
// --------------- Create the second box --------------- //
|
|
|
|
// Position of the box
|
|
openglframework::vec3 positionBox2(-5, 7, 0);
|
|
|
|
// Create a box and a corresponding rigid in the dynamics world
|
|
mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mFixedJointBox2->setColor(mBlueColorDemo);
|
|
mFixedJointBox2->setSleepingColor(mRedColorDemo);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
|
|
material2.setBounciness(ephysics::float(0.4));
|
|
|
|
// --------------- Create the first fixed joint --------------- //
|
|
|
|
// Create the joint info object
|
|
ephysics::RigidBody* body1 = mFixedJointBox1->getRigidBody();
|
|
ephysics::RigidBody* propellerBody = mPropellerBox->getRigidBody();
|
|
const ephysics::vec3 m_anchorPointWorldSpace1(5, 7, 0);
|
|
ephysics::FixedJointInfo jointInfo1(body1, propellerBody, m_anchorPointWorldSpace1);
|
|
jointInfo1.isCollisionEnabled = false;
|
|
|
|
// Create the joint in the dynamics world
|
|
mFixedJoint1 = dynamic_cast<ephysics::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
|
|
|
|
// --------------- Create the second fixed joint --------------- //
|
|
|
|
// Create the joint info object
|
|
ephysics::RigidBody* body2 = mFixedJointBox2->getRigidBody();
|
|
const ephysics::vec3 m_anchorPointWorldSpace2(-5, 7, 0);
|
|
ephysics::FixedJointInfo jointInfo2(body2, propellerBody, m_anchorPointWorldSpace2);
|
|
jointInfo2.isCollisionEnabled = false;
|
|
|
|
// Create the joint in the dynamics world
|
|
mFixedJoint2 = dynamic_cast<ephysics::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));
|
|
}
|
|
|
|
// Create the floor
|
|
void JointsScene::createFloor() {
|
|
|
|
// Create the floor
|
|
openglframework::vec3 floorPosition(0, 0, 0);
|
|
mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
|
|
|
|
// Set the box color
|
|
mFloor->setColor(mGreyColorDemo);
|
|
mFloor->setSleepingColor(mGreyColorDemo);
|
|
|
|
// The floor must be a static rigid body
|
|
mFloor->getRigidBody()->setType(ephysics::STATIC);
|
|
|
|
// Change the material properties of the rigid body
|
|
ephysics::Material& material = mFloor->getRigidBody()->getMaterial();
|
|
material.setBounciness(ephysics::float(0.3));
|
|
}
|