151 lines
4.6 KiB
C++
151 lines
4.6 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.ephysics.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 JOINTS_SCENE_H
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#define JOINTS_SCENE_H
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// Libraries
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#include <ephysics/openglframework.hpp>
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#include <ephysics/ephysics.hpp>
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#include <ephysics/Box.hpp>
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#include <ephysics/SceneDemo.hpp>
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namespace jointsscene {
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// Constants
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const float SCENE_RADIUS = 30.0f;
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const openglframework::vec3 BOX_SIZE(2, 2, 2); // Box dimensions in meters
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const openglframework::vec3 FLOOR_SIZE(50, 0.5f, 50); // Floor dimensions in meters
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const float BOX_MASS = 1.0f; // Box mass in kilograms
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const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
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const int32_t NB_BALLSOCKETJOINT_BOXES = 7; // Number of Ball-And-Socket chain boxes
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const int32_t NB_HINGE_BOXES = 7; // Number of Hinge chain boxes
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// Class JointsScene
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class JointsScene : public SceneDemo {
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protected :
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// -------------------- Attributes -------------------- //
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/// Boxes of Ball-And-Socket joint chain
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Box* mBallAndSocketJointChainBoxes[NB_BALLSOCKETJOINT_BOXES];
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/// Boxes of the Hinge joint chain
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Box* mHingeJointChainBoxes[NB_HINGE_BOXES];
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/// Ball-And-Socket joints of the chain
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ephysics::BallAndSocketJoint* mBallAndSocketJoints[NB_BALLSOCKETJOINT_BOXES-1];
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/// Hinge joints of the chain
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ephysics::HingeJoint* mHingeJoints[NB_HINGE_BOXES-1];
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/// Bottom box of the Slider joint
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Box* mSliderJointBottomBox;
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/// Top box of the Slider joint
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Box* mSliderJointTopBox;
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/// Slider joint
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ephysics::SliderJoint* mSliderJoint;
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/// Propeller box
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Box* mPropellerBox;
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/// Box 1 of Fixed joint
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Box* mFixedJointBox1;
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/// Box 2 of Fixed joint
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Box* mFixedJointBox2;
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/// Hinge joint
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ephysics::HingeJoint* mPropellerHingeJoint;
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/// First Fixed joint
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ephysics::FixedJoint* mFixedJoint1;
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/// Second Fixed joint
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ephysics::FixedJoint* mFixedJoint2;
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/// Box for the floor
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Box* mFloor;
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/// Dynamics world used for the physics simulation
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ephysics::DynamicsWorld* mDynamicsWorld;
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// -------------------- Methods -------------------- //
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/// Create the boxes and joints for the Ball-and-Socket joint example
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void createBallAndSocketJoints();
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/// Create the boxes and joint for the Slider joint example
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void createSliderJoint();
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/// Create the boxes and joint for the Hinge joint example
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void createPropellerHingeJoint();
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/// Create the boxes and joint for the Fixed joint example
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void createFixedJoints();
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/// Create the floor
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void createFloor();
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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JointsScene(const etk::String& name);
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/// Destructor
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virtual ~JointsScene();
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/// Update the physics world (take a simulation step)
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/// Can be called several times per frame
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virtual void updatePhysics();
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/// Take a step for the simulation
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virtual void update();
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/// Render the scene in a single pass
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virtual void renderSinglePass(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix);
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/// Reset the scene
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virtual void reset();
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/// Return all the contact points of the scene
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virtual etk::Vector<ContactPoint> getContactPoints() const;
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};
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// Return all the contact points of the scene
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inline etk::Vector<ContactPoint> JointsScene::getContactPoints() const {
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return computeContactPointsOfWorld(mDynamicsWorld);
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}
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}
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#endif
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