PhysicsBodyUnrecPtr buildBox(const Pnt3f& Position,
const Vec3f& Dimensions,
const Color3f& Color,
Node* const spaceGroupNode,
PhysicsWorld* const physicsWorld,
PhysicsHashSpace* const physicsSpace)
{
Matrix m;
//create OpenSG mesh
GeometryUnrecPtr box;
NodeUnrecPtr boxNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialUnrecPtr box_mat = SimpleMaterial::create();
box_mat->setAmbient(Color3f(0.0,0.0,0.0));
box_mat->setDiffuse(Color);
box->setMaterial(box_mat);
TransformUnrecPtr boxTrans;
NodeUnrecPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
m.setIdentity();
m.setTranslate(Position);
boxTrans->setMatrix(m);
//create ODE data
PhysicsBodyUnrecPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(Position));
boxBody->setBoxMass(1.0,Dimensions.x(), Dimensions.y(), Dimensions.z());
boxBody->setLinearDamping(0.0001);
boxBody->setAngularDamping(0.0001);
PhysicsBoxGeomUnrecPtr boxGeom = PhysicsBoxGeom::create();
boxGeom->setBody(boxBody);
boxGeom->setSpace(physicsSpace);
boxGeom->setLengths(Dimensions);
//add attachments
boxNode->addAttachment(boxGeom);
boxTransNode->addAttachment(boxBody);
boxTransNode->addChild(boxNode);
//add to SceneGraph
spaceGroupNode->addChild(boxTransNode);
return boxBody;
}
//////////////////////////////////////////////////////////////////////////
//! build a sphere
//////////////////////////////////////////////////////////////////////////
PhysicsBodyUnrecPtr buildSphere(void)
{
Real32 Radius((Real32)(rand()%2)*0.5+0.5);
Matrix m;
//create OpenSG mesh
GeometryUnrecPtr sphere;
NodeUnrecPtr sphereNode = makeSphere(2, Radius);
sphere = dynamic_cast<Geometry*>(sphereNode->getCore());
SimpleMaterialUnrecPtr 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);
TransformUnrecPtr sphereTrans;
NodeUnrecPtr 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
PhysicsBodyUnrecPtr sphereBody = PhysicsBody::create(physicsWorld);
sphereBody->setPosition(Vec3f(randX, randY, 10.0));
sphereBody->setLinearDamping(0.0001);
sphereBody->setAngularDamping(0.0001);
sphereBody->setSphereMass(1.0,Radius);
PhysicsSphereGeomUnrecPtr 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();
return sphereBody;
}
//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
PhysicsBodyUnrecPtr buildBox(void)
{
Vec3f Lengths((Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0);
Matrix m;
//create OpenSG mesh
GeometryUnrecPtr box;
NodeUnrecPtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
box = dynamic_cast<Geometry*>(boxNode->getCore());
SimpleMaterialUnrecPtr 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);
TransformUnrecPtr boxTrans;
NodeUnrecPtr 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
PhysicsBodyUnrecPtr boxBody = PhysicsBody::create(physicsWorld);
boxBody->setPosition(Vec3f(randX, randY, 10.0));
boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());
PhysicsBoxGeomUnrecPtr 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();
return boxBody;
}