//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
void buildBox(void)
{
Vec3f Lengths((Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0);
Matrix m;
//create OpenSG mesh
GeometryRefPtr box;
NodeRefPtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialRefPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(0.0,1.0 ,0.0));
box->setMaterial(box_mat);
TransformRefPtr boxTrans;
NodeRefPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
Real32 randX = (Real32)(rand()%10)-5.0;
Real32 randY = (Real32)(rand()%10)-5.0;
m.setTranslate(randX, randY, 10.0);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyRefPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(randX, randY, 10.0));
boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());
//std::cout << "mass: " << boxBody->getMass() << std::endl
//<< "massCenterOfGravity: " << boxBody->getMassCenterOfGravity().x() << ", " << boxBody->getMassCenterOfGravity().y() << ", " << boxBody->getMassCenterOfGravity().z() << std::endl
//<< "massInertiaTensor: " << std::endl
//<< boxBody->getMassInertiaTensor()[0][0] << " "<< boxBody->getMassInertiaTensor()[0][1] << " "<< boxBody->getMassInertiaTensor()[0][2] << " " << boxBody->getMassInertiaTensor()[0][3] << std::endl
//<< boxBody->getMassInertiaTensor()[1][0] << " "<< boxBody->getMassInertiaTensor()[1][1] << " "<< boxBody->getMassInertiaTensor()[1][2] << " " << boxBody->getMassInertiaTensor()[1][3] << std::endl
//<< boxBody->getMassInertiaTensor()[2][0] << " "<< boxBody->getMassInertiaTensor()[2][1] << " "<< boxBody->getMassInertiaTensor()[2][2] << " " << boxBody->getMassInertiaTensor()[2][3] << std::endl
//<< boxBody->getMassInertiaTensor()[3][0] << " "<< boxBody->getMassInertiaTensor()[3][1] << " "<< boxBody->getMassInertiaTensor()[3][2] << " " << boxBody->getMassInertiaTensor()[3][3] << std::endl
//<< std::endl;
PhysicsBoxGeomRefPtr boxGeom = PhysicsBoxGeom::create();
boxGeom->setBody(boxBody);
boxGeom->setSpace(physicsSpace);
boxGeom->setLengths(Lengths);
//add attachments
boxNode->addAttachment(boxGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
}
//////////////////////////////////////////////////////////////////////////
//! trimesh defined by filenode will be loaded
//////////////////////////////////////////////////////////////////////////
void buildTriMesh(void)
{
NodeRefPtr tri = cloneTree(TriGeometryBase);
if(tri!=NULL)
{
GeometryRefPtr triGeo = dynamic_cast<Geometry*>(tri->getCore());
Matrix m;
SimpleMaterialRefPtr tri_mat = SimpleMaterial::create();
tri_mat->setAmbient(Color3f(0.1,0.1,0.2));
tri_mat->setDiffuse(Color3f(1.0,0.1,0.7));
triGeo->setMaterial(tri_mat);
TransformRefPtr triTrans;
NodeRefPtr triTransNode = makeCoredNode<Transform>(&triTrans);
m.setIdentity();
Real32 randX = (Real32)(rand()%10)-5.0;
Real32 randY = (Real32)(rand()%10)-5.0;
m.setTranslate(randX, randY, 18.0);
triTrans->setMatrix(m);
//create ODE data
Vec3f GeometryBounds(calcMinGeometryBounds(triGeo));
PhysicsBodyRefPtr triBody = PhysicsBody::create(physicsWorld);
triBody->setPosition(Vec3f(randX, randY, 18.0));
triBody->setLinearDamping(0.0001);
triBody->setAngularDamping(0.0001);
triBody->setBoxMass(1.0,GeometryBounds.x(), GeometryBounds.y(), GeometryBounds.z());
PhysicsGeomRefPtr triGeom;
if(true)
{
triGeom = PhysicsTriMeshGeom::create();
triGeom->setBody(triBody);
//add geom to space for collision
triGeom->setSpace(physicsSpace);
//set the geometryNode to fill the ode-triMesh
NodeRefPtr TorusGeometryNode(makeTorus(0.55, 1.05, 6, 6));
dynamic_pointer_cast<PhysicsTriMeshGeom>(triGeom)->setGeometryNode(TorusGeometryNode);
}
//add attachments
tri->addAttachment(triGeom);
triTransNode->addAttachment(triBody);
//add to SceneGraph
triTransNode->addChild(tri);
spaceGroupNode->addChild(triTransNode);
}
else
{
SLOG << "Could not read MeshData!" << endLog;
}
commitChanges();
}
//////////////////////////////////////////////////////////////////////////
//! build a ship
//////////////////////////////////////////////////////////////////////////
PhysicsBodyRefPtr buildShip(Vec3f Dimensions, Pnt3f Position)
{
Real32 Radius(osgMax(Dimensions.x(), Dimensions.y())/2.0f);
Real32 Length(Dimensions.z() - 2.0f*Radius);
Matrix m;
//create OpenSG mesh
GeometryRefPtr box;
NodeRefPtr boxNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialRefPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(1.0,1.0 ,0.0));
box->setMaterial(box_mat);
TransformRefPtr boxTrans;
NodeRefPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
m.setTranslate(Position - Vec3f(0.0f,0.0f,0.5f*Dimensions.z()));
boxTrans->setMatrix(m);
for(UInt32 i(0) ; i<box->getPositions()->size() ; ++i)
{
box->getPositions()->setValue<Pnt3f>(box->getPositions()->getValue<Pnt3f>(i) + Vec3f(0.0,0.0,Dimensions.z()/2.0f),i);
}
//create ODE data
PhysicsBodyRefPtr CapsuleBody = PhysicsBody::create(physicsWorld);
CapsuleBody->setPosition(Vec3f(Position - Vec3f(0.0f,0.0f,0.5f*Dimensions.z())));
CapsuleBody->setLinearDamping(0.01);
CapsuleBody->setMaxAngularSpeed(0.0);
CapsuleBody->setCapsuleMass(1.0,3,Radius, Length);
PhysicsCapsuleGeomRefPtr CapsuleGeom = PhysicsCapsuleGeom::create();
CapsuleGeom->setBody(CapsuleBody);
CapsuleGeom->setOffsetPosition(Vec3f(0.0f,0.0f,0.5f*Dimensions.z()));
CapsuleGeom->setSpace(hashSpace);
CapsuleGeom->setRadius(Radius);
CapsuleGeom->setLength(Length);
//add attachments
boxNode->addAttachment(CapsuleGeom);
boxTransNode->addAttachment(CapsuleBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
return CapsuleBody;
}
//////////////////////////////////////////////////////////////////////////
//! build a character
//////////////////////////////////////////////////////////////////////////
PhysicsBodyRefPtr buildCharacter(Vec3f Dimensions,
Pnt3f Position,
Node* const spaceGroupNode,
PhysicsWorld* const physicsWorld,
PhysicsHashSpace* const physicsSpace
)
{
Real32 Radius(osgMax(Dimensions.x(), Dimensions.y())/2.0f);
Real32 Length(Dimensions.z() - 2.0f*Radius);
Matrix m;
//create OpenSG mesh
GeometryRefPtr box;
//NodeRefPtr characterNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
NodeRefPtr characterNode = SceneFileHandler::the()->read("Data/Jack.osb");
if(characterNode == NULL)
{
characterNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
}
box = dynamic_cast<Geometry*>(characterNode->getCore());
TransformRefPtr boxTrans;
NodeRefPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
m.setTranslate(Position);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyRefPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(Position));
//boxBody->setLinearDamping(0.001);
//boxBody->setAngularDamping(0.001);
boxBody->setMaxAngularSpeed(0.0);
boxBody->setCapsuleMass(1.0,3,Radius, Length);
PhysicsCapsuleGeomRefPtr CapsuleGeom = PhysicsCapsuleGeom::create();
CapsuleGeom->setBody(boxBody);
CapsuleGeom->setSpace(physicsSpace);
CapsuleGeom->setRadius(Radius);
CapsuleGeom->setLength(Length);
//add attachments
characterNode->addAttachment(CapsuleGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(characterNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
return boxBody;
}
//////////////////////////////////////////////////////////////////////////
//! build a sphere
//////////////////////////////////////////////////////////////////////////
void buildSphere(void)
{
Real32 Radius((Real32)(rand()%2)*0.5+0.5);
Matrix m;
//create OpenSG mesh
GeometryRefPtr sphere;
NodeRefPtr sphereNode = makeSphere(2, Radius);
sphere = dynamic_cast<Geometry*>(sphereNode->getCore());
SimpleMaterialRefPtr sphere_mat = SimpleMaterial::create();
sphere_mat->setAmbient(Color3f(0.0,0.0,0.0));
sphere_mat->setDiffuse(Color3f(0.0,0.0,1.0));
sphere->setMaterial(sphere_mat);
TransformRefPtr sphereTrans;
NodeRefPtr sphereTransNode = makeCoredNode<Transform>(&sphereTrans);
m.setIdentity();
Real32 randX = (Real32)(rand()%10)-5.0;
Real32 randY = (Real32)(rand()%10)-5.0;
m.setTranslate(randX, randY, 10.0);
sphereTrans->setMatrix(m);
//create ODE data
PhysicsBodyRefPtr sphereBody = PhysicsBody::create(physicsWorld);
sphereBody->setPosition(Vec3f(randX, randY, 10.0));
sphereBody->setAngularDamping(0.0001);
sphereBody->setSphereMass(1.0,Radius);
PhysicsSphereGeomRefPtr sphereGeom = PhysicsSphereGeom::create();
sphereGeom->setBody(sphereBody);
sphereGeom->setSpace(physicsSpace);
sphereGeom->setRadius(Radius);
//add attachments
sphereNode->addAttachment(sphereGeom);
sphereTransNode->addAttachment(sphereBody);
sphereTransNode->addChild(sphereNode);
//add to SceneGraph
spaceGroupNode->addChild(sphereTransNode);
commitChanges();
}
virtual void update(const UpdateEventUnrecPtr e)
{
ForceOnCharacter.setValues(0.0,0.0,0.0);
Real32 PushForce(10000.0);
Real32 Speed(20.0);
if(_IsUpKeyDown)
{
ForceOnCharacter += Vec3f(0.0, PushForce, 0.0);
}
if(_IsDownKeyDown)
{
ForceOnCharacter += Vec3f(0.0, -PushForce, 0.0);
}
if(_IsLeftKeyDown)
{
ForceOnCharacter += Vec3f(-PushForce, 0.0, 0.0);
}
if(_IsRightKeyDown)
{
ForceOnCharacter += Vec3f(PushForce, 0.0, 0.0);
}
if(ForceOnCharacter != Vec3f(0.0,0.0,0.0))
{
ShipBody->setEnable(true);
}
if(ForceOnCharacter.x() !=0.0)
{
ShipMotor->setFMax(osgAbs(ForceOnCharacter.x()));
ShipMotor->setVel(osgSgn(ForceOnCharacter.x())*Speed);
}
else
{
ShipMotor->setFMax(0.0);
ShipMotor->setVel(0.0);
}
if(ForceOnCharacter.y() !=0.0)
{
ShipMotor->setFMax2(osgAbs(ForceOnCharacter.y()));
ShipMotor->setVel2(osgSgn(ForceOnCharacter.y())*Speed);
}
else
{
ShipMotor->setFMax2(0.0);
ShipMotor->setVel2(0.0);
}
if(ForceOnCharacter.z() !=0.0)
{
ShipMotor->setFMax3(osgAbs(ForceOnCharacter.z()));
ShipMotor->setVel3(osgSgn(ForceOnCharacter.z())*Speed);
}
else
{
ShipMotor->setFMax3(0.0);
ShipMotor->setVel3(0.0);
}
}
//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
PhysicsBodyRefPtr buildBox(Vec3f Dimensions, Pnt3f Position)
{
Matrix m;
//create OpenSG mesh
GeometryRefPtr box;
NodeRefPtr boxNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialRefPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color3f(0.0,1.0 ,1.0));
box->setMaterial(box_mat);
TransformRefPtr boxTrans;
NodeRefPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
m.setTranslate(Position);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyRefPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(Position));
boxBody->setLinearDamping(0.001);
boxBody->setAngularDamping(0.001);
boxBody->setBoxMass(1.0,Dimensions.x(), Dimensions.y(), Dimensions.z());
PhysicsBoxGeomRefPtr boxGeom = PhysicsBoxGeom::create();
boxGeom->setBody(boxBody);
boxGeom->setSpace(hashSpace);
boxGeom->setLengths(Dimensions);
//add attachments
boxNode->addAttachment(boxGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
commitChanges();
return boxBody;
}
PhysicsLMotorJointRefPtr buildMotor(PhysicsBodyRefPtr ship)
{
//Create LMotor Joint
PhysicsLMotorJointRefPtr TutorialLMotorJoint = PhysicsLMotorJoint::create(ship->getWorld());
TutorialLMotorJoint->setFirstBody(ship);
TutorialLMotorJoint->setSecondBody(NULL);
TutorialLMotorJoint->setNumAxes(3);
TutorialLMotorJoint->setAxis1Properties(Vec3f(1.0,0.0,0.0),1);
TutorialLMotorJoint->setAxis2Properties(Vec3f(0.0,1.0,0.0),1);
TutorialLMotorJoint->setAxis3Properties(Vec3f(0.0,0.0,1.0),1);
return TutorialLMotorJoint;
}
// Initialize GLUT & OpenSG and set up the rootNode
int main(int argc, char **argv)
{
// OSG init
osgInit(argc,argv);
{
// Set up Window
WindowEventProducerRecPtr TutorialWindow = createNativeWindow();
TutorialWindow->initWindow();
// Create the SimpleSceneManager helper
SimpleSceneManager sceneManager;
TutorialWindow->setDisplayCallback(boost::bind(display, &sceneManager));
TutorialWindow->setReshapeCallback(boost::bind(reshape, _1, &sceneManager));
// Tell the Manager what to manage
sceneManager.setWindow(TutorialWindow);
//Attach to events
TutorialWindow->connectMousePressed(boost::bind(mousePressed, _1, &sceneManager));
TutorialWindow->connectMouseReleased(boost::bind(mouseReleased, _1, &sceneManager));
TutorialWindow->connectMouseMoved(boost::bind(mouseMoved, _1, &sceneManager));
TutorialWindow->connectMouseDragged(boost::bind(mouseDragged, _1, &sceneManager));
TutorialWindow->connectMouseWheelMoved(boost::bind(mouseWheelMoved, _1, &sceneManager));
TutorialWindow->connectKeyReleased(boost::bind(keyReleased, _1));
//Make Main Scene Node
NodeRefPtr scene = makeCoredNode<Group>();
setName(scene, "scene");
NodeRecPtr rootNode = Node::create();
setName(rootNode, "rootNode");
ComponentTransformRefPtr Trans = ComponentTransform::create();
rootNode->setCore(Trans);
rootNode->addChild(scene);
//Light Beacon
Matrix LightTransformMat;
LightTransformMat.setTranslate(Vec3f(50.0,0.0,100.0));
TransformRefPtr LightTransform = Transform::create();
LightTransform->setMatrix(LightTransformMat);
NodeRefPtr TutorialLightBeacon = Node::create();
TutorialLightBeacon->setCore(LightTransform);
//Light Node
PointLightRefPtr TutorialLight = PointLight::create();
TutorialLight->setBeacon(TutorialLightBeacon);
NodeRefPtr TutorialLightNode = Node::create();
TutorialLightNode->setCore(TutorialLight);
scene->addChild(TutorialLightNode);
scene->addChild(TutorialLightBeacon);
//Setup Physics Scene
PhysicsWorldRecPtr physicsWorld = PhysicsWorld::create();
physicsWorld->setWorldContactSurfaceLayer(0.005);
physicsWorld->setAutoDisableFlag(1);
physicsWorld->setAutoDisableTime(0.75);
physicsWorld->setWorldContactMaxCorrectingVel(100.0);
physicsWorld->setGravity(Vec3f(0.0, 0.0, -9.81));
PhysicsHashSpaceRecPtr physicsSpace = PhysicsHashSpace::create();
//Setup the default collision parameters
CollisionContactParametersRefPtr DefaultCollisionParams = CollisionContactParameters::createEmpty();
DefaultCollisionParams->setMode(dContactApprox1);
DefaultCollisionParams->setMu(1.0);
DefaultCollisionParams->setMu2(0.0);
DefaultCollisionParams->setBounce(0.0);
DefaultCollisionParams->setBounceSpeedThreshold(0.0);
DefaultCollisionParams->setSoftCFM(0.1);
DefaultCollisionParams->setSoftERP(0.2);
DefaultCollisionParams->setMotion1(0.0);
DefaultCollisionParams->setMotion2(0.0);
DefaultCollisionParams->setMotionN(0.0);
DefaultCollisionParams->setSlip1(0.0);
DefaultCollisionParams->setSlip2(0.0);
physicsSpace->setDefaultCollisionParameters(DefaultCollisionParams);
PhysicsHandlerRecPtr physHandler = PhysicsHandler::create();
physHandler->setWorld(physicsWorld);
physHandler->pushToSpaces(physicsSpace);
physHandler->setUpdateNode(rootNode);
physHandler->attachUpdateProducer(TutorialWindow);
rootNode->addAttachment(physHandler);
rootNode->addAttachment(physicsWorld);
rootNode->addAttachment(physicsSpace);
/************************************************************************/
/* create spaces, geoms and bodys */
/************************************************************************/
//create a group for our space
GroupRefPtr spaceGroup;
NodeRecPtr spaceGroupNode = makeCoredNode<Group>(&spaceGroup);
//create the ground terrain
GeometryRefPtr TerrainGeo = buildTerrain(Vec2f(400.0,400.0),25,25);
//and its Material
SimpleMaterialRefPtr TerrainMat = SimpleMaterial::create();
TerrainMat->setAmbient(Color3f(0.3,0.5,0.3));
TerrainMat->setDiffuse(Color3f(0.5,0.9,0.5));
TerrainGeo->setMaterial(TerrainMat);
NodeRefPtr TerrainNode = Node::create();
TerrainNode->setCore(TerrainGeo);
//create ODE data
PhysicsGeomRefPtr TerrainODEGeom = PhysicsTriMeshGeom::create();
//add geom to space for collision
TerrainODEGeom->setSpace(physicsSpace);
//set the geometryNode to fill the ode-triMesh
dynamic_pointer_cast<PhysicsTriMeshGeom>(TerrainODEGeom)->setGeometryNode(TerrainNode);
//add attachments
//add Attachments to nodes...
spaceGroupNode->addAttachment(physicsSpace);
spaceGroupNode->addChild(TerrainNode);
TerrainNode->addAttachment(TerrainODEGeom);
TutorialLightNode->addChild(spaceGroupNode);
//Create Character
PhysicsBodyRefPtr CharacterPhysicsBody = buildCharacter(Vec3f(5.0,5.0,10.0),
Pnt3f((Real32)(rand()%100)-50.0,(Real32)(rand()%100)-50.0,25.0),
spaceGroupNode,
physicsWorld,
physicsSpace);
PhysicsLMotorJointRefPtr CharacterMover = buildMover(CharacterPhysicsBody);
TutorialWindow->connectKeyPressed(boost::bind(keyPressed, _1,
spaceGroupNode.get(),
physicsWorld.get(),
physicsSpace.get()));
TutorialWindow->connectUpdate(boost::bind(handleUpdate, _1,
CharacterPhysicsBody.get(),
CharacterMover.get()));
// tell the manager what to manage
sceneManager.setRoot (rootNode);
// show the whole rootNode
sceneManager.showAll();
Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
TutorialWindow->openWindow(WinPos,
WinSize,
"03CharacterTerrain");
//Enter main Loop
TutorialWindow->mainLoop();
}
osgExit();
return 0;
}
