Esempio n. 1
0
//////////////////////////////////////////////////////////////////////////
//! 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();

}
Esempio n. 2
0
//////////////////////////////////////////////////////////////////////////
//! 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 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;
}