Vec2f VRIntersect_computeTexel(VRIntersection& ins, NodeRecPtr node) {
if (!ins.hit) return Vec2f(0,0);
if (node == 0) return Vec2f(0,0);
GeometryRefPtr geo = dynamic_cast<Geometry*>( node->getCore() );
if (geo == 0) return Vec2f(0,0);
auto texcoords = geo->getTexCoords();
if (texcoords == 0) return Vec2f(0,0);
TriangleIterator iter = geo->beginTriangles(); iter.seek( ins.triangle );
Matrix m = node->getToWorld();
m.invert();
Pnt3f local_pnt; m.mult(ins.point, local_pnt);
Pnt3f p0 = iter.getPosition(0);
Pnt3f p1 = iter.getPosition(1);
Pnt3f p2 = iter.getPosition(2);
Vec3f cr = (p1 - p0).cross(p2 - p0);
Vec3f n = cr; n.normalize();
float areaABC = n.dot(cr);
float areaPBC = n.dot((p1 - local_pnt).cross(p2 - local_pnt));
float areaPCA = n.dot((p2 - local_pnt).cross(p0 - local_pnt));
float a = areaPBC / areaABC;
float b = areaPCA / areaABC;
float c = 1.0f - a - b;
return iter.getTexCoords(0) * a + iter.getTexCoords(1) * b + iter.getTexCoords(2) * c;
}
//////////////////////////////////////////////////////////////////////////
//! 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 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();
}
GeometryRefPtr buildTerrain(Vec2f Dimensions, UInt32 XSubdivisions, UInt32 YSubdivisions)
{
GeoUInt8PropertyRefPtr type = GeoUInt8Property::create();
type->addValue(GL_TRIANGLES);
GeoPnt3fPropertyRefPtr pnts = GeoPnt3fProperty ::create();
GeoVec3fPropertyRefPtr norms = GeoVec3fProperty ::create();
Real32 ZScale(8.0);
for(UInt32 i(0) ; i<XSubdivisions ; ++i)
{
for(UInt32 j(0) ; j<YSubdivisions ; ++j)
{
Real32 Theta(5*3.14159*(static_cast<Real32>(i)/static_cast<Real32>(XSubdivisions))),
ThetaNext(5*3.14159*(static_cast<Real32>(i+1)/static_cast<Real32>(XSubdivisions)));
// the points of the Tris
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+i*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-j*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(Theta)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+i*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-(j+1)*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(Theta)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+(i+1)*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-j*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(ThetaNext)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+i*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-(j+1)*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(Theta)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+(i+1)*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-(j+1)*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(ThetaNext)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
pnts->addValue(Pnt3f(-Dimensions.x()/2.0+(i+1)*(Dimensions.x()/static_cast<Real32>(XSubdivisions)), Dimensions.y()/2.0-j*(Dimensions.y()/static_cast<Real32>(YSubdivisions)), ZScale*osgCos(ThetaNext)));
norms->addValue(Vec3f( 0.0,0.0,1.0));
}
}
GeoUInt32PropertyUnrecPtr lens = GeoUInt32Property::create();
lens->addValue(pnts->size());
GeometryRefPtr Terrain = Geometry::create();
Terrain->setTypes (type);
Terrain->setLengths (lens);
Terrain->setPositions(pnts);
Terrain->setNormals(norms);
calcVertexNormals(Terrain);
return Terrain;
}
ChunkMaterial *getChunkMaterial(Node *node)
{
NodeCore *pCore = node->getCore();
ChunkMaterialRefPtr cm;
if((pCore != NULL) &&
(pCore->getType().isDerivedFrom(MaterialGroup::getClassType())))
{
MaterialGroupRefPtr g = dynamic_cast<MaterialGroup *>(pCore);
cm = dynamic_cast<ChunkMaterial *>(g->getMaterial());
}
else if((pCore != NULL) &&
(pCore->getType().isDerivedFrom(Geometry::getClassType())))
{
GeometryRefPtr g = dynamic_cast<Geometry *>(pCore);
cm = dynamic_cast<ChunkMaterial *>(g->getMaterial());
}
return cm;
}
//////////////////////////////////////////////////////////////////////////
//! 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;
}
// 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;
}
// Initialize GLUT & OpenSG and set up the scene
int main(int argc, char **argv)
{
// OSG init
osgInit(argc,argv);
{
// Set up Window
TutorialWindow = createNativeWindow();
TutorialWindow->setDisplayCallback(display);
TutorialWindow->setReshapeCallback(reshape);
//Add Window Listener
TutorialKeyListener TheKeyListener;
TutorialWindow->addKeyListener(&TheKeyListener);
TutorialMouseListener TheTutorialMouseListener;
TutorialMouseMotionListener TheTutorialMouseMotionListener;
TutorialWindow->addMouseListener(&TheTutorialMouseListener);
TutorialWindow->addMouseMotionListener(&TheTutorialMouseMotionListener);
//Initialize Window
TutorialWindow->initWindow();
//Torus Material
TheTorusMaterial = SimpleMaterial::create();
dynamic_pointer_cast<SimpleMaterial>(TheTorusMaterial)->setAmbient(Color3f(0.2,0.2,0.2));
dynamic_pointer_cast<SimpleMaterial>(TheTorusMaterial)->setDiffuse(Color3f(0.7,0.7,0.7));
dynamic_pointer_cast<SimpleMaterial>(TheTorusMaterial)->setSpecular(Color3f(0.7,0.7,0.7));
dynamic_pointer_cast<SimpleMaterial>(TheTorusMaterial)->setShininess(100.0f);
//Torus Geometry
GeometryRefPtr TorusGeometry = makeTorusGeo(.5, 2, 32, 32);
TorusGeometry->setMaterial(TheTorusMaterial);
NodeRefPtr TorusGeometryNode = Node::create();
TorusGeometryNode->setCore(TorusGeometry);
//Make Torus Node
NodeRefPtr TorusNode = Node::create();
TorusNodeTrans = Transform::create();
setName(TorusNodeTrans, std::string("TorusNodeTransformationCore"));
TorusNode->setCore(TorusNodeTrans);
TorusNode->addChild(TorusGeometryNode);
//Make Main Scene Node
NodeRefPtr scene = Node::create();
Trans = ComponentTransform::create();
setName(Trans, std::string("MainTransformationCore"));
scene->setCore(Trans);
scene->addChild(TorusNode);
setupAnimation();
commitChanges();
// Create the SimpleSceneManager helper
mgr = new SimpleSceneManager;
// Tell the Manager what to manage
mgr->setWindow(TutorialWindow);
// tell the manager what to manage
mgr->setRoot (scene);
// show the whole scene
mgr->showAll();
Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
TutorialWindow->openWindow(WinPos,
WinSize,
"OpenSG 02TransformAnimation Window");
//Enter main Loop
TutorialWindow->mainLoop();
}
osgExit();
return 0;
}
// Initialize GLUT & OpenSG and set up the rootNode
int main(int argc, char **argv)
{
// OSG init
osgInit(argc,argv);
// Set up Window
TutorialWindow = createNativeWindow();
TutorialWindow->initWindow();
TutorialWindow->setDisplayCallback(display);
TutorialWindow->setReshapeCallback(reshape);
TutorialKeyListener TheKeyListener;
TutorialWindow->addKeyListener(&TheKeyListener);
TutorialMouseListener TheTutorialMouseListener;
TutorialMouseMotionListener TheTutorialMouseMotionListener;
TutorialWindow->addMouseListener(&TheTutorialMouseListener);
TutorialWindow->addMouseMotionListener(&TheTutorialMouseMotionListener);
// Create the SimpleSceneManager helper
mgr = new SimpleSceneManager;
// Tell the Manager what to manage
mgr->setWindow(TutorialWindow);
//Make Base Geometry Node
TriGeometryBase = makeTorus(0.5, 1.0, 24, 24);
//Make Main Scene Node
NodeRefPtr scene = makeCoredNode<Group>();
setName(scene, "scene");
rootNode = Node::create();
setName(rootNode, "rootNode");
ComponentTransformRefPtr Trans;
Trans = ComponentTransform::create();
rootNode->setCore(Trans);
// add the torus as a child
rootNode->addChild(scene);
//Make The Physics Characteristics Node
PhysicsCharacteristicsDrawableRefPtr PhysDrawable = PhysicsCharacteristicsDrawable::create();
PhysDrawable->setRoot(rootNode);
PhysDrawableNode = Node::create();
PhysDrawableNode->setCore(PhysDrawable);
PhysDrawableNode->setTravMask(TypeTraits<UInt32>::getMin());
rootNode->addChild(PhysDrawableNode);
//Setup Physics Scene
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));
physicsSpace = PhysicsHashSpace::create();
physHandler = PhysicsHandler::create();
physHandler->setWorld(physicsWorld);
physHandler->pushToSpaces(physicsSpace);
physHandler->setUpdateNode(rootNode);
physHandler->attachUpdateProducer(TutorialWindow->editEventProducer());
/************************************************************************/
/* create spaces, geoms and bodys */
/************************************************************************/
//create a group for our space
GroupRefPtr spaceGroup;
spaceGroupNode = makeCoredNode<Group>(&spaceGroup);
//create the ground plane
GeometryRefPtr plane;
NodeRefPtr planeNode = makeBox(30.0, 30.0, 1.0, 1, 1, 1);
plane = dynamic_cast<Geometry*>(planeNode->getCore());
//and its Material
SimpleMaterialRefPtr plane_mat = SimpleMaterial::create();
plane_mat->setAmbient(Color3f(0.7,0.7,0.7));
plane_mat->setDiffuse(Color3f(0.9,0.6,1.0));
plane->setMaterial(plane_mat);
//create Physical Attachments
PhysicsBoxGeomRefPtr planeGeom = PhysicsBoxGeom::create();
planeGeom->setLengths(Vec3f(30.0, 30.0, 1.0));
//add geoms to space for collision
planeGeom->setSpace(physicsSpace);
//add Attachments to nodes...
spaceGroupNode->addAttachment(physicsSpace);
spaceGroupNode->addAttachment(physHandler);
spaceGroupNode->addAttachment(physicsWorld);
spaceGroupNode->addChild(planeNode);
planeNode->addAttachment(planeGeom);
scene->addChild(spaceGroupNode);
//Create Statistics Foreground
SimpleStatisticsForegroundRefPtr PhysicsStatForeground = SimpleStatisticsForeground::create();
PhysicsStatForeground->setSize(25);
PhysicsStatForeground->setColor(Color4f(0,1,0,0.7));
PhysicsStatForeground->addElement(PhysicsHandler::statPhysicsTime,
"Physics time: %.3f s");
PhysicsStatForeground->addElement(PhysicsHandler::statCollisionTime,
"Collision time: %.3f s");
PhysicsStatForeground->addElement(PhysicsHandler::statSimulationTime,
"Simulation time: %.3f s");
PhysicsStatForeground->addElement(PhysicsHandler::statNCollisions,
"%d collisions");
PhysicsStatForeground->addElement(PhysicsHandler::statNCollisionTests,
"%d collision tests");
PhysicsStatForeground->addElement(PhysicsHandler::statNPhysicsSteps,
"%d simulation steps per frame");
PhysicsStatForeground->setVerticalAlign(SimpleStatisticsForeground::Center);
SimpleStatisticsForegroundRefPtr RenderStatForeground = SimpleStatisticsForeground::create();
RenderStatForeground->setSize(25);
RenderStatForeground->setColor(Color4f(0,1,0,0.7));
RenderStatForeground->addElement(RenderAction::statDrawTime, "Draw FPS: %r.3f");
RenderStatForeground->addElement(RenderAction::statNGeometries,
"%d Nodes drawn");
// tell the manager what to manage
mgr->setRoot (rootNode);
mgr->getWindow()->getPort(0)->addForeground(PhysicsStatForeground);
mgr->getWindow()->getPort(0)->addForeground(RenderStatForeground);
physHandler->setStatistics(PhysicsStatForeground->editCollector());
mgr->getRenderAction()->setStatCollector(RenderStatForeground->editCollector());
// show the whole rootNode
mgr->showAll();
Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
TutorialWindow->openWindow(WinPos,
WinSize,
"01SimplePhysics");
//Enter main Loop
TutorialWindow->mainLoop();
osgExit();
return 0;
}
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);
TutorialWindow->connectKeyTyped(boost::bind(keyTyped, _1));
TutorialWindow->connectMousePressed(boost::bind(mousePressed, _1, &sceneManager));
TutorialWindow->connectMouseReleased(boost::bind(mouseReleased, _1, &sceneManager));
TutorialWindow->connectMouseDragged(boost::bind(mouseDragged, _1, &sceneManager));
TutorialWindow->connectMouseWheelMoved(boost::bind(mouseWheelMoved, _1, &sceneManager));
BoostPath EffectFilePath("./Data/goochyPt.cgfx");
if(argc >= 2)
{
EffectFilePath = BoostPath(argv[1]);
if(!boost::filesystem::exists(EffectFilePath))
{
std::cerr << "Could not load file: "<< EffectFilePath.string()
<< ", because no such files exists."<< std::endl;
EffectFilePath = BoostPath("./Data/goochyPt.cgfx");
}
}
//Make the CgFX Material
CgFXMaterialRecPtr ExampleMaterial = CgFXMaterial::create();
ExampleMaterial->setEffectFile(EffectFilePath.string());
// Make Torus Node (creates Torus in background of scene)
GeometryRefPtr TorusGeometry = makeTorusGeo(.5, 2, 16, 16);
//GeometryRefPtr TorusGeometry = makeBoxGeo(1.0,1.0,1.0,1,1,1);
TorusGeometry->setMaterial(ExampleMaterial);
TorusGeometry->setDlistCache(false);
NodeRefPtr TorusGeometryNode = makeNodeFor(TorusGeometry);
// Make Main Scene Node and add the Torus
NodeRefPtr scene = OSG::Node::create();
scene->setCore(OSG::Group::create());
scene->addChild(TorusGeometryNode);
sceneManager.setRoot(scene);
//Create the Documentation Foreground and add it to the viewport
SimpleScreenDoc TheSimpleScreenDoc(&sceneManager, TutorialWindow);
// Show the whole Scene
sceneManager.showAll();
//Open Window
Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
TutorialWindow->openWindow(WinPos,
WinSize,
"04CgFXMaterial");
commitChanges();
//Enter main Loop
TutorialWindow->mainLoop();
}
osgExit();
return 0;
}