void setupPhysics(hkpWorld* physicsWorld)
{
//
// Create the ground box
//
{
hkVector4 groundRadii( 70.0f, 2.0f, 140.0f );
hkpConvexShape* shape = new hkpBoxShape( groundRadii , 0 );
hkpRigidBodyCinfo ci;
ci.m_shape = shape;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_position = hkVector4( 0.0f, -2.0f, 0.0f );
ci.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
physicsWorld->addEntity( new hkpRigidBody( ci ) )->removeReference();
shape->removeReference();
}
hkVector4 groundPos( 0.0f, 0.0f, 0.0f );
hkVector4 posy = groundPos;
//
// Create the walls
//
int wallHeight = 8;
int wallWidth = 8;
int numWalls = 6;
hkVector4 boxSize( 1.0f, 0.5f, 0.5f);
hkpBoxShape* box = new hkpBoxShape( boxSize , 0 );
box->setRadius( 0.0f );
hkReal deltaZ = 25.0f;
posy(2) = -deltaZ * numWalls * 0.5f;
for ( int y = 0; y < numWalls; y ++ ) // first wall
{
createBrickWall( physicsWorld, wallHeight, wallWidth, posy, 0.2f, box, boxSize );
posy(2) += deltaZ;
}
box->removeReference();
//
// Create a ball moving towards the walls
//
const hkReal radius = 1.5f;
const hkReal sphereMass = 150.0f;
hkVector4 relPos( 0.0f,radius + 0.0f, 50.0f );
hkpRigidBodyCinfo info;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, sphereMass, massProperties);
info.m_mass = massProperties.m_mass;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_shape = new hkpSphereShape( radius );
info.m_position.setAdd4(posy, relPos );
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
info.m_qualityType = HK_COLLIDABLE_QUALITY_BULLET;
hkpRigidBody* sphereRigidBody = new hkpRigidBody( info );
g_ball = sphereRigidBody;
physicsWorld->addEntity( sphereRigidBody );
sphereRigidBody->removeReference();
info.m_shape->removeReference();
hkVector4 vel( 0.0f,4.9f, -100.0f );
sphereRigidBody->setLinearVelocity( vel );
}
BrickWallDemo::BrickWallDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
// Disable warnings:
hkError::getInstance().setEnabled(0xaf55adde, false); //'No runtime block of size 637136 currently available. Allocating new block from unmanaged memory.'
hkDefaultPhysicsDemo::enableDisplayingToiInformation( true );
m_frameToSimulationFrequencyRatio = 1.0f;
m_timestep = 1.0f / 60.0f;
const BrickWallVariant& variant = g_variants[m_variantId];
int wallHeight = variant.m_height;
int wallWidth = variant.m_width;
int numWalls = variant.m_numWalls;
hkpWorldCinfo::SimulationType simulationType;
simulationType = hkpWorldCinfo::SIMULATION_TYPE_CONTINUOUS;
//
// Setup the camera so that we can see the ball hit the (first) wall.
//
{
hkVector4 from(40.0f, 20.0f, 40.0f);
hkVector4 to ( 0.0f, 10.0f, 0.0f);
hkVector4 up ( 0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
{
hkpWorldCinfo info;
info.setBroadPhaseWorldSize( 5000.0f );
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_HARD);
info.m_collisionTolerance = 0.01f;
info.m_gravity = hkVector4( 0.0f,-9.8f,0.0f);
info.m_simulationType = simulationType;
info.m_broadPhaseBorderBehaviour = info.BROADPHASE_BORDER_FIX_ENTITY;
//info.m_enableDeactivation = false;
//info.m_enableSimulationIslands = false;
info.m_enableDeactivation = false;
m_world = new hkpWorld( info );
m_world->lock();
}
{
// Register ALL agents (though some may not be necessary)
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
setupGraphics();
// enable instancing (if present on platform)
hkpShapeDisplayViewer* shapeViewer = (hkpShapeDisplayViewer*)getLocalViewerByName( hkpShapeDisplayViewer::getName() );
if (shapeViewer)
{
shapeViewer->setInstancingEnabled( true );
}
}
//
// Create the ground box
//
{
hkVector4 groundRadii( 70.0f, 2.0f, 70.0f );
hkpConvexShape* shape = new hkpBoxShape( groundRadii , 0 );
hkpRigidBodyCinfo ci;
ci.m_shape = shape;
ci.m_motionType = hkpMotion::MOTION_FIXED;
ci.m_position = hkVector4( 0.0f, -2.0f, 0.0f );
ci.m_qualityType = HK_COLLIDABLE_QUALITY_FIXED;
m_world->addEntity( new hkpRigidBody( ci ) )->removeReference();
shape->removeReference();
}
hkVector4 groundPos( 0.0f, 0.0f, 0.0f );
hkVector4 posy = groundPos;
//
// Create the walls
//
if(1)
{
hkVector4 boxSize( 1.0f, 0.5f, 0.5f);
hkpBoxShape* box = new hkpBoxShape( boxSize , 0 );
box->setRadius( 0.0f );
hkReal deltaZ = 25.0f;
posy(2) = -deltaZ * numWalls * 0.5f;
for ( int y = 0; y < numWalls; y ++ ) // first wall
{
createBrickWall( m_world, wallHeight, wallWidth, posy, 0.2f, box, boxSize );
posy(2) += deltaZ;
}
box->removeReference();
}
//
// Create the ball
//
if (1)
{
const hkReal radius = 1.5f;
const hkReal sphereMass = 150.0f;
hkVector4 relPos( 0.0f,radius + 0.0f, 20.0f );
hkpRigidBodyCinfo info;
hkpMassProperties massProperties;
hkpInertiaTensorComputer::computeSphereVolumeMassProperties(radius, sphereMass, massProperties);
info.m_mass = massProperties.m_mass;
info.m_centerOfMass = massProperties.m_centerOfMass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_shape = new hkpSphereShape( radius );
info.m_position.setAdd4(posy, relPos );
info.m_motionType = hkpMotion::MOTION_BOX_INERTIA;
if ( variant.m_usePredictive)
{
info.m_qualityType = HK_COLLIDABLE_QUALITY_BULLET;
}
else
{
info.m_qualityType = HK_COLLIDABLE_QUALITY_DEBRIS;
}
hkpRigidBody* sphereRigidBody = new hkpRigidBody( info );
m_world->addEntity( sphereRigidBody );
sphereRigidBody->removeReference();
info.m_shape->removeReference();
hkVector4 vel( 0.0f,4.9f, -200.0f );
sphereRigidBody->setLinearVelocity( vel );
}
m_world->unlock();
}