void buildModel ()
{
TimeManager::getCurrent ()->setTimeStepSize (0.005);
createMesh();
// create static rigid body
string fileName = dataPath + "/models/cube.obj";
IndexedFaceMesh mesh;
VertexData vd;
OBJLoader::loadObj(fileName, vd, mesh);
string fileNameTorus = dataPath + "/models/torus.obj";
IndexedFaceMesh meshTorus;
VertexData vdTorus;
OBJLoader::loadObj(fileNameTorus, vdTorus, meshTorus);
SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
rb.resize(2);
// floor
rb[0] = new RigidBody();
rb[0]->initBody(1.0,
Vector3r(0.0, -5.5, 0.0),
Quaternionr(1.0, 0.0, 0.0, 0.0),
vd, mesh,
Vector3r(100.0, 1.0, 100.0));
rb[0]->setMass(0.0);
// torus
rb[1] = new RigidBody();
rb[1]->initBody(1.0,
Vector3r(5.0, -1.5, 0.0),
Quaternionr(1.0, 0.0, 0.0, 0.0),
vdTorus, meshTorus,
Vector3r(3.0, 3.0, 3.0));
rb[1]->setMass(0.0);
rb[1]->setFrictionCoeff(0.1);
sim.setCollisionDetection(model, &cd);
cd.setTolerance(0.05);
const std::vector<Vector3r> *vertices1 = rb[0]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert1 = static_cast<unsigned int>(vertices1->size());
cd.addCollisionBox(0, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices1)[0], nVert1, Vector3r(100.0, 1.0, 100.0));
const std::vector<Vector3r> *vertices2 = rb[1]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert2 = static_cast<unsigned int>(vertices2->size());
cd.addCollisionTorus(1, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices2)[0], nVert2, Vector2r(3.0, 1.5));
SimulationModel::TetModelVector &tm = model.getTetModels();
ParticleData &pd = model.getParticles();
for (unsigned int i = 0; i < tm.size(); i++)
{
const unsigned int nVert = tm[i]->getParticleMesh().numVertices();
unsigned int offset = tm[i]->getIndexOffset();
tm[i]->setFrictionCoeff(0.1);
cd.addCollisionObjectWithoutGeometry(i, CollisionDetection::CollisionObject::TetModelCollisionObjectType, &pd.getPosition(offset), nVert);
}
}
/** Create the rigid body model
*/
void createBodyModel()
{
SimulationModel *model = Simulation::getCurrent()->getModel();
SimulationModel::RigidBodyVector &rb = model->getRigidBodies();
SimulationModel::ConstraintVector &constraints = model->getConstraints();
string fileNameBox = FileSystem::normalizePath(base->getDataPath() + "/models/cube.obj");
IndexedFaceMesh meshBox;
VertexData vdBox;
loadObj(fileNameBox, vdBox, meshBox, Vector3r::Ones());
string fileNameCylinder = FileSystem::normalizePath(base->getDataPath() + "/models/cylinder.obj");
IndexedFaceMesh meshCylinder;
VertexData vdCylinder;
loadObj(fileNameCylinder, vdCylinder, meshCylinder, Vector3r::Ones());
string fileNameTorus = FileSystem::normalizePath(base->getDataPath() + "/models/torus.obj");
IndexedFaceMesh meshTorus;
VertexData vdTorus;
loadObj(fileNameTorus, vdTorus, meshTorus, Vector3r::Ones());
string fileNameCube = FileSystem::normalizePath(base->getDataPath() + "/models/cube_5.obj");
IndexedFaceMesh meshCube;
VertexData vdCube;
loadObj(fileNameCube, vdCube, meshCube, Vector3r::Ones());
string fileNameSphere = FileSystem::normalizePath(base->getDataPath() + "/models/sphere.obj");
IndexedFaceMesh meshSphere;
VertexData vdSphere;
loadObj(fileNameSphere, vdSphere, meshSphere, 2.0*Vector3r::Ones());
const unsigned int num_piles_x = 5;
const unsigned int num_piles_z = 5;
const Real dx_piles = 4.0;
const Real dz_piles = 4.0;
const Real startx_piles = -0.5 * (Real)(num_piles_x - 1)*dx_piles;
const Real startz_piles = -0.5 * (Real)(num_piles_z - 1)*dz_piles;
const unsigned int num_piles = num_piles_x * num_piles_z;
const unsigned int num_bodies_x = 3;
const unsigned int num_bodies_y = 5;
const unsigned int num_bodies_z = 3;
const Real dx_bodies = 6.0;
const Real dy_bodies = 6.0;
const Real dz_bodies = 6.0;
const Real startx_bodies = -0.5 * (Real)(num_bodies_x - 1)*dx_bodies;
const Real starty_bodies = 14.0;
const Real startz_bodies = -0.5 * (Real)(num_bodies_z - 1)*dz_bodies;
const unsigned int num_bodies = num_bodies_x * num_bodies_y * num_bodies_z;
rb.resize(num_piles + num_bodies + 1);
unsigned int rbIndex = 0;
// floor
rb[rbIndex] = new RigidBody();
rb[rbIndex]->initBody(1.0,
Vector3r(0.0, -0.5, 0.0),
Quaternionr(1.0, 0.0, 0.0, 0.0),
vdBox, meshBox, Vector3r(100.0, 1.0, 100.0));
rb[rbIndex]->setMass(0.0);
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionBox(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, Vector3r(100.0, 1.0, 100.0));
rbIndex++;
Real current_z = startz_piles;
for (unsigned int i = 0; i < num_piles_z; i++)
{
Real current_x = startx_piles;
for (unsigned int j = 0; j < num_piles_x; j++)
{
rb[rbIndex] = new RigidBody();
rb[rbIndex]->initBody(100.0,
Vector3r(current_x, 5.0, current_z),
Quaternionr(1.0, 0.0, 0.0, 0.0),
vdCylinder, meshCylinder,
Vector3r(0.5, 10.0, 0.5));
rb[rbIndex]->setMass(0.0);
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionCylinder(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, Vector2r(0.5, 10.0));
current_x += dx_piles;
rbIndex++;
}
current_z += dz_piles;
}
srand((unsigned int) time(NULL));
Real current_y = starty_bodies;
unsigned int currentType = 0;
for (unsigned int i = 0; i < num_bodies_y; i++)
{
Real current_x = startx_bodies;
for (unsigned int j = 0; j < num_bodies_x; j++)
{
Real current_z = startz_bodies;
for (unsigned int k = 0; k < num_bodies_z; k++)
{
rb[rbIndex] = new RigidBody();
Real ax = static_cast <Real> (rand()) / static_cast <Real> (RAND_MAX);
Real ay = static_cast <Real> (rand()) / static_cast <Real> (RAND_MAX);
Real az = static_cast <Real> (rand()) / static_cast <Real> (RAND_MAX);
Real w = static_cast <Real> (rand()) / static_cast <Real> (RAND_MAX);
Quaternionr q(w, ax, ay, az);
q.normalize();
currentType = rand() % 4;
if (currentType == 0)
{
rb[rbIndex]->initBody(100.0,
Vector3r(current_x, current_y, current_z),
q, //Quaternionr(1.0, 0.0, 0.0, 0.0),
vdTorus, meshTorus,
Vector3r(2.0, 2.0, 2.0));
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionTorus(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, Vector2r(2.0, 1.0));
}
else if (currentType == 1)
{
rb[rbIndex]->initBody(100.0,
Vector3r(current_x, current_y, current_z),
q, //Quaternionr(1.0, 0.0, 0.0, 0.0),
vdCube, meshCube,
Vector3r(4.0, 1.0, 1.0));
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionBox(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, Vector3r(4.0, 1.0, 1.0));
}
else if (currentType == 2)
{
rb[rbIndex]->initBody(100.0,
Vector3r(current_x, current_y, current_z),
q, //Quaternionr(1.0, 0.0, 0.0, 0.0),
vdSphere, meshSphere);
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionSphere(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, 1.0);
}
else if (currentType == 3)
{
rb[rbIndex]->initBody(100.0,
Vector3r(current_x, current_y, current_z),
q, //Quaternionr(1.0, 0.0, 0.0, 0.0),
vdCylinder, meshCylinder,
Vector3r(0.75, 5.0, 0.75));
const std::vector<Vector3r> *vertices = rb[rbIndex]->getGeometry().getVertexDataLocal().getVertices();
const unsigned int nVert = static_cast<unsigned int>(vertices->size());
cd.addCollisionCylinder(rbIndex, CollisionDetection::CollisionObject::RigidBodyCollisionObjectType, &(*vertices)[0], nVert, Vector2r(0.75, 5.0));
}
currentType = (currentType + 1) % 4;
current_z += dz_bodies;
rbIndex++;
}
current_x += dx_bodies;
}
current_y += dy_bodies;
}
}
