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main.cpp
406 lines (344 loc) · 15 KB
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main.cpp
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#include "main.hpp"
int main() {
State* state = init();
while(true) {
if(!processInput(state))
break;
update(state);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLoadIdentity();
if(state->carcam) {
const dReal* pos = dBodyGetPosition(state->carbodybody);
const dReal* rot = dBodyGetRotation(state->carbodybody);
glRotatef(state->rotx, 1, 0, 0);
glRotatef(state->roty, 0, 1, 0);
glRotatef(state->rotz, 0, 0, 1);
const float matrix[] = { rot[0], rot[1], rot[2], 0
, rot[4], rot[5], rot[6], 0
, rot[8], rot[9], rot[10], 0
, 0, 0, 0, 1 };
glMultMatrixf(matrix);
glTranslatef(-pos[0], -pos[1], -pos[2]);
} else {
glRotatef(state->rotx, 1, 0, 0);
glRotatef(state->roty, 0, 1, 0);
glRotatef(state->rotz, 0, 0, 1);
glTranslatef(-state->posx, -state->posy, -state->posz);
}
state->carbodydrawable->draw(state->carbodybody);
state->carwheeldrawable->draw(state->flcarwheelbody);
state->carwheeldrawable->draw(state->frcarwheelbody);
state->carwheeldrawable->draw(state->blcarwheelbody);
state->carwheeldrawable->draw(state->brcarwheelbody);
// state->monkey->draw(state->monkeyBody);
for(int i = 0; i < NUM_CUBES; i++)
state->cube->draw(state->cubebody[i]);
state->map->draw(0);
SDL_GL_SwapBuffers();
}
uninit();
return 0;
}
State* init() {
State* state = new State();
dInitODE();
SDL_Init(SDL_INIT_EVERYTHING);
state->screen = SDL_SetVideoMode(WIDTH, HEIGHT, 32, SDL_OPENGL);
SDL_WM_SetCaption("Physics", NULL);
SDL_Flip(state->screen);
SDL_ShowCursor(SDL_DISABLE);
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluPerspective(100, (float)WIDTH/HEIGHT, 0.5, 1000);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
GLfloat light_ambient[] = { 1, 1, 1, 1 };
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
GLfloat lightpos[] = {0, 4, 0, 1};
glLightfv(GL_LIGHT0, GL_POSITION, lightpos);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST);
glShadeModel(GL_SMOOTH);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_DEPTH_TEST);
glEnable(GL_CULL_FACE);
glClearColor(0, 0, 0, 1);
state->posx = 0;//21;
state->posy = 4;//8;
state->posz = 5;//21;
state->rotx = 0;
state->roty = 0;//-40;
state->rotz = 0;
state->wkey = false;
state->akey = false;
state->skey = false;
state->dkey = false;
state->gkey = false;
state->simSpeed = 60;
state->carcam = false;
state->carbodydrawable = new Drawable("objs/carbody.obj");
state->carwheeldrawable = new Drawable("objs/carwheel.obj");
state->map = new Drawable("objs/jump2.obj");
state->cube = new Drawable("objs/cube.obj");
// state->monkey = new Drawable("objs/monkey.obj");
state->world = dWorldCreate();
dWorldSetGravity(state->world, 0, -9.8, 0);
state->worldSpace = dHashSpaceCreate(0);
const double carHeight = 0.65;
const double carZ = 90;
const double carX = 0;
const float speed = -1000;
const float force = 200;
state->carbodybody = dBodyCreate(state->world);
dBodySetPosition(state->carbodybody, carX, carHeight, carZ);
dMass bodymass;
dMassSetBoxTotal(&bodymass, 100, 2, 4, 1);
dBodySetMass(state->carbodybody, &bodymass);
dGeomID carbodygeom = dCreateBox(state->worldSpace, 2, 1, 4);
dGeomSetBody(carbodygeom, state->carbodybody);
state->flcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->flcarwheelbody, carX-1.5, carHeight - 0.5, carZ+2);
const dMatrix3 m = { 0, 0, 1, 0
, 0, 1, 0, 0
, 0, 0, 1, 0 };
dBodySetRotation(state->flcarwheelbody, m);
dMass wheelmass;
dMassSetCylinder(&wheelmass, 0.1, 2, 0.5, 0.2);
dBodySetMass(state->flcarwheelbody, &wheelmass);
dJointID joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->flcarwheelbody);
dJointSetHingeAnchor(joint, carX-1.5, carHeight - 0.5, carZ+2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID flcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(flcarwheelgeom, state->flcarwheelbody);
dJointID motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->flcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->frcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->frcarwheelbody, carX+1.5, carHeight - 0.5, carZ+2);
dBodySetRotation(state->frcarwheelbody, m);
dBodySetMass(state->frcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->frcarwheelbody);
dJointSetHingeAnchor(joint, carX+1.5, carHeight - 0.5, carZ+2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID frcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(frcarwheelgeom, state->frcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->frcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->blcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->blcarwheelbody, carX-1.5, carHeight - 0.5, carZ-2);
dBodySetRotation(state->blcarwheelbody, m);
dBodySetMass(state->blcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->blcarwheelbody);
dJointSetHingeAnchor(joint, carX-1.5, carHeight - 0.5, carZ-2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID blcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(blcarwheelgeom, state->blcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->blcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->brcarwheelbody = dBodyCreate(state->world);
dBodySetPosition(state->brcarwheelbody, carX+1.5, carHeight - 0.5, carZ-2);
dBodySetRotation(state->brcarwheelbody, m);
dBodySetMass(state->brcarwheelbody, &wheelmass);
joint = dJointCreateHinge(state->world, 0);
dJointAttach(joint, state->carbodybody, state->brcarwheelbody);
dJointSetHingeAnchor(joint, carX+1.5, carHeight - 0.5, carZ-2);
dJointSetHingeAxis(joint, 1, 0, 0);
dGeomID brcarwheelgeom = dCreateCylinder(state->worldSpace, 0.5, 0.2);
dGeomSetBody(brcarwheelgeom, state->brcarwheelbody);
motor = dJointCreateAMotor(state->world, 0);
dJointAttach(motor, state->brcarwheelbody, state->carbodybody);
dJointSetAMotorNumAxes(motor, 1);
dJointSetAMotorAxis(motor, 0, 1, 1, 0, 0);
dJointSetAMotorParam(motor, dParamVel, speed);
dJointSetAMotorParam(motor, dParamFMax, force);
state->var = new double[3];
state->var = dBodyGetPosition(state->carbodybody);
// cout << state->var[0] << " " << state->var[1] << " " << state->var[2] << endl;
//TODO check if translation matrix from dBody can be used.
dSpaceID cubespace = dHashSpaceCreate(state->worldSpace);
for(int i = 0; i < NUM_CUBES/10; i++) {
for(int k = 0; k < 10; k++) {
state->cubebody[i*10+k] = dBodyCreate(state->world);
dBodySetAutoDisableFlag(state->cubebody[i*10+k], 1);
dBodySetPosition(state->cubebody[i*10+k], (i*2.01)-4, 0.9 + 2.01*k, -70);
dGeomID cubegeom = dCreateBox(cubespace, 2, 2, 2);
dGeomSetBody(cubegeom, state->cubebody[i*10+k]);
}
}
{
int indexSize = state->map->vertices.size()/3;
unsigned int* index = new unsigned int[indexSize];
for(int i = 0; i < indexSize; i++)
index[i] = i;
dTriMeshDataID triMeshData = dGeomTriMeshDataCreate();
dGeomTriMeshDataBuildSingle(triMeshData, state->map->vertices.data(), 12, state->map->vertices.size()/3, index, indexSize, 12);
dGeomID mapGeom = dCreateTriMesh(state->worldSpace, triMeshData, NULL, NULL, NULL);
dGeomSetPosition(mapGeom, 0, 0, 0);
}
// state->monkeyBody = dBodyCreate(state->world);
// {
// int indexSize = state->monkey->vertices.size()/3;
// unsigned int* index = new unsigned int[indexSize];
// for(int i = 0; i < indexSize; i++)
// index[i] = i;
// dTriMeshDataID triMeshData = dGeomTriMeshDataCreate();
// dGeomTriMeshDataBuildSingle(triMeshData, state->monkey->vertices.data(), 12, state->monkey->vertices.size()/3, index, indexSize, 12);
// dGeomID monkeyGeom = dCreateTriMesh(state->worldSpace, triMeshData, NULL, NULL, NULL);
// dGeomSetPosition(monkeyGeom, 0, 2, 0);
// dGeomSetBody(monkeyGeom, state->monkeyBody);
// }
state->physicsContactgroup = dJointGroupCreate(0);
return state;
}
void uninit() {
dCloseODE();
SDL_Quit();
}
bool processInput(State* state) {
SDL_Event event;
while(SDL_PollEvent(&event)) {
if(event.type == SDL_QUIT) {
return false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_ESCAPE)) {
return false;
} else if(event.type == SDL_MOUSEMOTION) {
if((event.motion.x != WIDTH/2) || (event.motion.y != HEIGHT/2)) {
state->roty += (event.motion.x - WIDTH/2)/30.0;
if(state->roty < 0)
state->roty = 360;
state->rotx += (event.motion.y - HEIGHT/2)/30.0;
if(state->rotx < 0)
state->rotx = 360;
SDL_WarpMouse(WIDTH/2, HEIGHT/2);
}
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_w)) {
state->wkey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_a)) {
state->akey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_s)) {
state->skey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_d)) {
state->dkey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_e)) {
state->ekey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_g)) {
state->gkey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_LSHIFT)) {
state->shiftkey = true;
} else if((event.type == SDL_KEYDOWN) && (event.key.keysym.sym == SDLK_SPACE)) {
state->spacekey = true;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_w)) {
state->wkey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_a)) {
state->akey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_s)) {
state->skey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_d)) {
state->dkey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_e)) {
state->ekey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_g)) {
state->gkey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_c)) {
state->carcam = !state->carcam;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_LSHIFT)) {
state->shiftkey = false;
} else if((event.type == SDL_KEYUP) && (event.key.keysym.sym == SDLK_SPACE)) {
state->spacekey = false;
} else if(event.type == SDL_MOUSEBUTTONUP) {
if(event.button.button == 4) {
state->simSpeed+=2;
if(state->simSpeed > 120)
state->simSpeed = 120;
cout << state->simSpeed << endl;
} else if(event.button.button == 5) {
state->simSpeed-=2;
if(state->simSpeed < 1)
state->simSpeed = 1;
cout << state->simSpeed << endl;
}
}
}
return true;
}
void update(State* state) {
float speed;
if(state->ekey)
speed = 0.5;
else
speed = 0.3;
if(state->wkey) {
state->posz -= cos(state->roty*3.1415/180) * speed;
state->posx += sin(state->roty*3.1415/180) * speed;
}
if(state->akey) {
state->posz += cos((state->roty + 90)*3.1415/180) * speed;
state->posx -= sin((state->roty + 90)*3.1415/180) * speed;
}
if(state->skey) {
state->posz += cos(state->roty*3.1415/180) * speed;
state->posx -= sin(state->roty*3.1415/180) * speed;
}
if(state->dkey) {
state->posz -= cos((state->roty + 90)*3.1415/180) * speed;
state->posx += sin((state->roty + 90)*3.1415/180) * speed;
}
if(state->shiftkey) {
state->posy -= speed;
}
if(state->spacekey) {
state->posy += speed;
}
if(state->gkey) {
for(int i = 0; i < state->simSpeed; i++) {
dSpaceCollide(state->worldSpace, state, &nearCallback);
dWorldQuickStep(state->world, 0.015/60);
dJointGroupEmpty(state->physicsContactgroup);
// cout << state->var[0] << " " << state->var[1] << " " << state->var[2] << endl;
}
// state->gkey = false;
}
}
void nearCallback(void *data, dGeomID o1, dGeomID o2) {
State* state = (State*)data;
if(dGeomIsSpace(o1) || dGeomIsSpace(o2)) {
dSpaceCollide2(o1, o2, data, &nearCallback);
if(dGeomIsSpace(o1))
dSpaceCollide((dSpaceID)o1, data, &nearCallback);
if(dGeomIsSpace(o2))
dSpaceCollide((dSpaceID)o2, data, &nearCallback);
} else {
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
const int MAX_CONTACTS = 18;
dContact contact[MAX_CONTACTS];
for(int i = 0; i < MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce;
contact[i].surface.mu = 2000;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.15;
}
if(int numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact))) {
for(int i = 0; i < numc; i++) {
dJointID c = dJointCreateContact(state->world, state->physicsContactgroup, &contact[i]);
dJointAttach(c, b1, b2);
}
}
}
}