SimulationEngine::~SimulationEngine()
{
// This must occur before destroying the Ogre root or the Opal Simulator.
destroyAllPhysicalEntities();
#ifndef SIMULATION_ENGINE_PHYSICS_ONLY
/*
if (mInputManager)
{
mInputManager->destroyInputObject( mMouse );
mInputManager->destroyInputObject( mKeyboard );
OIS::InputManager::destroyInputSystem(mInputManager);
mInputManager = NULL;
}
// This must occur before destroying the Opal Simulator.
if (mPhysicalCamera)
{
delete mPhysicalCamera;
}
if (mOgreWindow)
{
mOgreWindow->destroy();
}
if (mOgreRoot)
{
delete mOgreRoot;
}
*/
#endif
if (mSimulator)
{
mSimulator->destroy();
}
}
bool PlaypenApp::processUnbufferedKeyInput(Ogre::Real dt)
{
// Check if we should quit looping.
if(mInputDevice->isKeyDown(KC_ESCAPE)
|| mInputDevice->isKeyDown(KC_Q))
{
return false;
}
// Check if we should pause physics.
if(mInputDevice->isKeyDown(KC_P) && mTimeUntilNextToggle <= 0)
{
mPaused = !mPaused;
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Reset the scene.
if(mInputDevice->isKeyDown(KC_R))
{
// Make sure the PhysicalCamera isn't grabbing anything.
mPhysicalCamera->release();
destroyAllPhysicalEntities();
setupInitialPhysicalEntities();
}
// The following code updates the camera's position.
opal::Vec3r cameraDir(0, 0, 0);
bool cameraMoved = false;
if (mInputDevice->isKeyDown(KC_LEFT)
|| mInputDevice->isKeyDown(KC_A))
{
// Move camera left.
cameraDir[0] -= (dt * mMoveSpeed);
cameraMoved = true;
}
if (mInputDevice->isKeyDown(KC_RIGHT)
|| mInputDevice->isKeyDown(KC_D))
{
// Move camera right.
cameraDir[0] += (dt * mMoveSpeed);
cameraMoved = true;
}
if (mInputDevice->isKeyDown(KC_UP)
|| mInputDevice->isKeyDown(KC_W))
{
// Move camera forward.
cameraDir[2] -= (dt * mMoveSpeed);
cameraMoved = true;
}
if (mInputDevice->isKeyDown(KC_DOWN)
|| mInputDevice->isKeyDown(KC_S))
{
// Move camera backward.
cameraDir[2] += (dt * mMoveSpeed);
cameraMoved = true;
}
if (!cameraMoved)
{
// Slow physical camera motion if necessary.
}
// Use the camera dir vector to translate the camera.
mPhysicalCamera->moveRelative(cameraDir);
// Toggle shadows.
if(mInputDevice->isKeyDown(KC_H) && mTimeUntilNextToggle <= 0)
{
mUseShadows = !mUseShadows;
if (mUseShadows)
{
mSceneMgr->setShadowTechnique(SHADOWTYPE_STENCIL_ADDITIVE);
}
else
{
mSceneMgr->setShadowTechnique(SHADOWTYPE_NONE);
}
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Toggle second light source.
if(mInputDevice->isKeyDown(KC_L) && mTimeUntilNextToggle <= 0)
{
Ogre::Light* light1 = mSceneMgr->getLight("light1");
if (light1->isVisible())
{
light1->setVisible(false);
}
else
{
light1->setVisible(true);
}
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Toggle GUI.
if (mInputDevice->isKeyDown(KC_G) && mTimeUntilNextToggle <= 0)
{
mStatsOn = !mStatsOn;
showDebugOverlay(mStatsOn);
mTimeUntilNextToggle = 1;
}
// Handy screenshot saving procedure.
if (mInputDevice->isKeyDown(KC_SYSRQ)
&& mTimeUntilNextToggle <= 0)
{
char tmp[20];
sprintf(tmp, "screenshot_%d.png", ++mNumScreenShots);
ExampleApplication::mWindow->writeContentsToFile(tmp);
ExampleApplication::mWindow->setDebugText(String("Wrote ")
+ tmp);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Return true to continue looping.
return true;
}
bool PlaypenApp::appFrameStarted(opal::real dt)
{
// Do per-frame application-specific things here.
// Handle speech input.
bool keepLooping = true;
bool makeObject = false;
std::string material;
ObjectType type;
std::string outputString;
while (voce::getRecognizerQueueSize() > 0)
{
std::string s = voce::popRecognizedString();
//// Check if the string contains 'quit'.
//if (std::string::npos != s.rfind("quit"))
//{
// keepLooping = false;
//}
// Check if we should reset.
if (std::string::npos != s.rfind("reset"))
{
// Make sure the PhysicalCamera isn't grabbing anything.
mPhysicalCamera->release();
destroyAllPhysicalEntities();
setupInitialPhysicalEntities();
voce::synthesize("reset");
return true;
}
// Check for material color.
if (std::string::npos != s.rfind("yellow"))
{
outputString += "yellow";
material = "Plastic/Yellow";
}
else if (std::string::npos != s.rfind("red"))
{
outputString += "red";
material = "Plastic/Red";
}
else if (std::string::npos != s.rfind("blue"))
{
outputString += "blue";
material = "Plastic/Blue";
}
else if (std::string::npos != s.rfind("green"))
{
outputString += "green";
material = "Plastic/Green";
}
else if (std::string::npos != s.rfind("purple"))
{
outputString += "purple";
material = "Plastic/Purple";
}
else if (std::string::npos != s.rfind("orange"))
{
outputString += "orange";
material = "Plastic/Orange";
}
else
{
// Default to dark gray.
material = "Plastic/DarkGray";
}
// Check for object type.
if (std::string::npos != s.rfind("box"))
{
outputString += " box";
type = OBJECT_TYPE_BOX;
makeObject = true;
}
else if (std::string::npos != s.rfind("sphere"))
{
outputString += " sphere";
type = OBJECT_TYPE_SPHERE;
makeObject = true;
}
else if (std::string::npos != s.rfind("wall"))
{
outputString += " wall";
type = OBJECT_TYPE_WALL;
makeObject = true;
}
else if (std::string::npos != s.rfind("tower"))
{
outputString += " tower";
type = OBJECT_TYPE_TOWER;
makeObject = true;
}
else if (std::string::npos != s.rfind("character"))
{
outputString += " character";
type = OBJECT_TYPE_RAGDOLL;
makeObject = true;
}
if (makeObject)
{
voce::synthesize(outputString);
createObject(material, type);
}
}
// Update the grasping spring line.
if (mPhysicalCamera->isGrasping())
{
Ogre::Entity* pickingSphere =
mSceneMgr->getEntity("pickingSphere");
if (!pickingSphere->isVisible())
{
pickingSphere->setVisible(true);
}
Ogre::Entity* springLine =
mSceneMgr->getEntity("springLine");
if (!springLine->isVisible())
{
springLine->setVisible(true);
}
opal::Point3r desiredPos =
mPhysicalCamera->getGraspGlobalPos();
Ogre::Vector3 point0(desiredPos[0], desiredPos[1], desiredPos[2]);
opal::Point3r attachPos = mPhysicalCamera->getAttachGlobalPos();
Ogre::Vector3 point1(attachPos[0], attachPos[1], attachPos[2]);
pickingSphere->getParentSceneNode()->setPosition(point1);
Ogre::Vector3 lineVec = point0 - point1;
if (!lineVec.isZeroLength())
{
Ogre::SceneNode* springLineNode =
springLine->getParentSceneNode();
springLineNode->setPosition(0.5 * (point0 + point1));
springLineNode->setDirection(lineVec);
springLineNode->setScale(0.1, 0.1, lineVec.length());
}
else
{
springLine->setVisible(false);
}
}
else
{
Ogre::Entity* pickingSphere =
mSceneMgr->getEntity("pickingSphere");
if (pickingSphere->isVisible())
{
pickingSphere->setVisible(false);
}
Ogre::Entity* springLine =
mSceneMgr->getEntity("springLine");
if (springLine->isVisible())
{
springLine->setVisible(false);
}
}
// Return true to continue looping.
return keepLooping;
}
bool PlaypenApp::processUnbufferedKeyInput(Ogre::Real dt)
{
// Check if we should quit looping.
if(mKeyboard->isKeyDown(OIS::KC_ESCAPE)
|| mKeyboard->isKeyDown(OIS::KC_Q))
{
return false;
}
// Check if we should pause physics.
if(mKeyboard->isKeyDown(OIS::KC_P) && mTimeUntilNextToggle <= 0)
{
mPaused = !mPaused;
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Reset the scene.
if(mKeyboard->isKeyDown(OIS::KC_R))
{
// Make sure the PhysicalCamera isn't grabbing anything.
mPhysicalCamera->release();
destroyAllPhysicalEntities();
setupInitialPhysicalEntities();
}
// Create various types of objects when the number keys are
// pressed.
// Create a box.
if(mKeyboard->isKeyDown(OIS::KC_1) && mTimeUntilNextToggle <= 0)
{
Ogre::Vector3 boxDim(3, 3, 3);
opal::Solid* s = mSimulator->createSolid();
s->setPosition(mCreationPoint);
opal::BoxShapeData data;
data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
s->addShape(data);
createPhysicalEntityBox("", "Plastic/Yellow", boxDim, s);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a sphere.
if(mKeyboard->isKeyDown(OIS::KC_2) && mTimeUntilNextToggle <= 0)
{
Ogre::Real radius = 2;
opal::Solid* s = mSimulator->createSolid();
s->setPosition(mCreationPoint);
opal::SphereShapeData data;
data.radius = radius;
s->addShape(data);
createPhysicalEntitySphere("", "Plastic/Purple", radius, s);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a capsule.
if(mKeyboard->isKeyDown(OIS::KC_3) && mTimeUntilNextToggle <= 0)
{
Ogre::Real radius = 2;
Ogre::Real length = 5;
opal::Solid* s = mSimulator->createSolid();
s->setPosition(mCreationPoint);
opal::CapsuleShapeData data;
data.radius = radius;
data.length = length;
s->addShape(data);
createPhysicalEntityCapsule("", "Plastic/Red", radius, length, s);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a cylinder.
if(mKeyboard->isKeyDown(OIS::KC_4) && mTimeUntilNextToggle <= 0)
{
Ogre::Real radius = 3;
Ogre::Real length = 5;
opal::Solid* s = mSimulator->createSolid();
s->setPosition(mCreationPoint);
opal::CylinderShapeData data;
data.radius = radius;
data.length = length;
s->addShape(data);
createPhysicalEntityCylinder("", "Plastic/Blue", radius, length, s);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a long box.
if(mKeyboard->isKeyDown(OIS::KC_5) && mTimeUntilNextToggle <= 0)
{
Ogre::Vector3 boxDim(2, 10, 3);
opal::Solid* s = mSimulator->createSolid();
s->setPosition(mCreationPoint);
opal::BoxShapeData data;
data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
data.material.density = 10;
s->addShape(data);
createPhysicalEntityBox("", "Plastic/Green", boxDim, s);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
//// Create a log.
//if(mKeyboard->isKeyDown(OIS::KC_6) && mTimeUntilNextToggle <= 0)
//{
// Ogre::Real logScale = 9;
// Ogre::Vector3 boxDim(0.4243, 0.4243, 2);
// boxDim *= logScale;
// opal::Solid* s = mSimulator->createSolid();
// opal::Matrix44r m;
// m.rotate(90, 1, 0, 0);
// s->setTransform(m);
// s->setPosition(mCreationPoint);
// opal::BoxShapeData data;
// data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
// s->addShape(data);
// std::string name = generateUniqueName();
// Ogre::SceneNode* sn = mSceneMgr->getRootSceneNode()->
// createChildSceneNode(name);
// sn->scale(logScale, logScale, logScale);
// Entity* e = mSceneMgr->createEntity(name, "log.mesh");
// e->setNormaliseNormals(true);
// e->setMaterialName("Textured/Wood");
// sn->attachObject(e);
// createPhysicalEntity(name, sn, s);
// // Reset the timer for toggle keys.
// mTimeUntilNextToggle = 0.3;
//}
// Create a knot.
if(mKeyboard->isKeyDown(OIS::KC_6) && mTimeUntilNextToggle <= 0)
{
opalSamples::PhysicalEntity* pe = createPhysicalEntityMesh("",
"knot.mesh", "Textured/RustedMetal", false, 0.1);
pe->getSolid()->setPosition(opal::Point3r(0, 40, 0));
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a wall.
if(mKeyboard->isKeyDown(OIS::KC_7) && mTimeUntilNextToggle <= 0)
{
opal::Matrix44r m;
m.rotate(45, 0, 1, 0);
m.translate(0, 0, -23);
createWall(6, 8, opal::Vec3r(3, 1.5, 1.5), m);
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a tower.
if(mKeyboard->isKeyDown(OIS::KC_8) && mTimeUntilNextToggle <= 0)
{
createTower(2, 2, 15, opal::Vec3r(3, 1.5, 1.5));
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.3;
}
// Create a ragdoll.
if(mKeyboard->isKeyDown(OIS::KC_9) && mTimeUntilNextToggle <= 0)
{
opal::Blueprint ragdollBP;
opal::loadFile(ragdollBP, "../data/blueprints/ragdoll.xml");
opal::Matrix44r transform;
transform.translate(mCreationPoint[0], mCreationPoint[1] - 5,
mCreationPoint[2]);
// Instantiate the Blueprint.
opal::BlueprintInstance instance;
mSimulator->instantiateBlueprint(instance, ragdollBP, transform, 16);
unsigned int i=0;
for (i=0; i<instance.getNumSolids(); ++i)
{
opal::Solid* s = instance.getSolid(i);
const opal::SolidData& data = s->getData();
unsigned int j=0;
for (j=0; j<data.getNumShapes(); ++j)
{
opal::ShapeData* shapeData = data.getShapeData(j);
switch(shapeData->getType())
{
case opal::BOX_SHAPE:
{
opal::Vec3r dim =
((opal::BoxShapeData*)shapeData)->dimensions;
Ogre::Vector3 boxDim(dim[0], dim[1], dim[2]);
createPhysicalEntityBox("", "Plastic/LightBlue",
boxDim, s);
break;
}
case opal::SPHERE_SHAPE:
{
opal::real r =
((opal::SphereShapeData*)shapeData)->radius;
createPhysicalEntitySphere("",
"Plastic/LightBlue", r, s);
break;
}
case opal::CAPSULE_SHAPE:
{
opal::real r =
((opal::CapsuleShapeData*)shapeData)->radius;
opal::real l =
((opal::CapsuleShapeData*)shapeData)->length;
createPhysicalEntityCapsule("",
"Plastic/LightBlue", r, l, s);
break;
}
default:
assert(false);
}
}
}
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// The following code updates the camera's position.
opal::Vec3r cameraDir(0, 0, 0);
bool cameraMoved = false;
if (mKeyboard->isKeyDown(OIS::KC_LEFT)
|| mKeyboard->isKeyDown(OIS::KC_A))
{
// Move camera left.
cameraDir[0] -= (dt * mMoveSpeed);
cameraMoved = true;
}
if (mKeyboard->isKeyDown(OIS::KC_RIGHT)
|| mKeyboard->isKeyDown(OIS::KC_D))
{
// Move camera right.
cameraDir[0] += (dt * mMoveSpeed);
cameraMoved = true;
}
if (mKeyboard->isKeyDown(OIS::KC_UP)
|| mKeyboard->isKeyDown(OIS::KC_W))
{
// Move camera forward.
cameraDir[2] -= (dt * mMoveSpeed);
cameraMoved = true;
}
if (mKeyboard->isKeyDown(OIS::KC_DOWN)
|| mKeyboard->isKeyDown(OIS::KC_S))
{
// Move camera backward.
cameraDir[2] += (dt * mMoveSpeed);
cameraMoved = true;
}
if (!cameraMoved)
{
// Slow physical camera motion if necessary.
}
// Use the camera dir vector to translate the camera.
mPhysicalCamera->moveRelative(cameraDir);
// Toggle shadows.
if(mKeyboard->isKeyDown(OIS::KC_H) && mTimeUntilNextToggle <= 0)
{
mUseShadows = !mUseShadows;
if (mUseShadows)
{
mSceneMgr->setShadowTechnique(SHADOWTYPE_STENCIL_ADDITIVE);
}
else
{
mSceneMgr->setShadowTechnique(SHADOWTYPE_NONE);
}
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Toggle second light source.
if(mKeyboard->isKeyDown(OIS::KC_L) && mTimeUntilNextToggle <= 0)
{
Ogre::Light* light1 = mSceneMgr->getLight("light1");
if (light1->isVisible())
{
light1->setVisible(false);
}
else
{
light1->setVisible(true);
}
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Toggle GUI.
if (mKeyboard->isKeyDown(OIS::KC_G) && mTimeUntilNextToggle <= 0)
{
mStatsOn = !mStatsOn;
showDebugOverlay(mStatsOn);
mTimeUntilNextToggle = 1;
}
// Handy screenshot saving procedure.
if (mKeyboard->isKeyDown(OIS::KC_SYSRQ)
&& mTimeUntilNextToggle <= 0)
{
char tmp[20];
sprintf(tmp, "screenshot_%d.png", ++mNumScreenShots);
ExampleApplication::mWindow->writeContentsToFile(tmp);
mDebugText = String("Wrote ") + tmp;
// Reset the timer for toggle keys.
mTimeUntilNextToggle = 0.5;
}
// Return true to continue looping.
return true;
}