PhysicsBodyUnrecPtr  buildBox(const Pnt3f& Position,
                              const Vec3f& Dimensions,
                              const Color3f& Color,
                              Node* const spaceGroupNode,
                              PhysicsWorld* const physicsWorld,
                              PhysicsHashSpace* const physicsSpace)
{
    Matrix m;
    //create OpenSG mesh
    GeometryUnrecPtr box;
    NodeUnrecPtr boxNode = makeBox(Dimensions.x(), Dimensions.y(), Dimensions.z(), 1, 1, 1);
    box = dynamic_cast<Geometry*>(boxNode->getCore());
    SimpleMaterialUnrecPtr box_mat = SimpleMaterial::create();
    box_mat->setAmbient(Color3f(0.0,0.0,0.0));
    box_mat->setDiffuse(Color);
    box->setMaterial(box_mat);
    TransformUnrecPtr boxTrans;
    NodeUnrecPtr boxTransNode = makeCoredNode<Transform>(&boxTrans);
    m.setIdentity();
    m.setTranslate(Position);
    boxTrans->setMatrix(m);

    //create ODE data
    PhysicsBodyUnrecPtr boxBody = PhysicsBody::create(physicsWorld);
    boxBody->setPosition(Vec3f(Position));
    boxBody->setBoxMass(1.0,Dimensions.x(), Dimensions.y(), Dimensions.z());
    boxBody->setLinearDamping(0.0001);
    boxBody->setAngularDamping(0.0001);
    PhysicsBoxGeomUnrecPtr boxGeom = PhysicsBoxGeom::create();
    boxGeom->setBody(boxBody);
    boxGeom->setSpace(physicsSpace);
    boxGeom->setLengths(Dimensions);

    //add attachments
    boxNode->addAttachment(boxGeom);
    boxTransNode->addAttachment(boxBody);
    boxTransNode->addChild(boxNode);

    //add to SceneGraph
    spaceGroupNode->addChild(boxTransNode);

    return boxBody;
}
Esempio n. 2
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//////////////////////////////////////////////////////////////////////////
//! build a box
//////////////////////////////////////////////////////////////////////////
PhysicsBodyUnrecPtr buildBox(void)
{
    Vec3f Lengths((Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0, (Real32)(rand()%2)+1.0);
    Matrix m;
    //create OpenSG mesh
    GeometryUnrecPtr box;
    NodeUnrecPtr boxNode = makeBox(Lengths.x(), Lengths.y(), Lengths.z(), 1, 1, 1);
    box = dynamic_cast<Geometry*>(boxNode->getCore());
    SimpleMaterialUnrecPtr 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);
    TransformUnrecPtr boxTrans;
    NodeUnrecPtr 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
    PhysicsBodyUnrecPtr boxBody = PhysicsBody::create(physicsWorld);
        boxBody->setPosition(Vec3f(randX, randY, 10.0));
    boxBody->setBoxMass(1.0, Lengths.x(), Lengths.y(), Lengths.z());

    PhysicsBoxGeomUnrecPtr 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();
    return boxBody;
}
Esempio n. 3
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// 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 Torus Node
    NodeUnrecPtr TorusNode = makeTorus(.5, 2, 32, 32);

    //Make Main Scene Node
	NodeUnrecPtr scene = makeCoredNode<Group>();
    setName(scene, "scene");
    rootNode = Node::create();
    setName(rootNode, "rootNode");
    ComponentTransformUnrecPtr Trans;
    Trans = ComponentTransform::create();
        rootNode->setCore(Trans);
 
        // add the torus as a child
        rootNode->addChild(scene);

    //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 = PhysicsSimpleSpace::create();
    //physicsSpace = PhysicsQuadTreeSpace::create();
    //physicsSpace = PhysicsHashSpace::create();
    physicsSpace = PhysicsSweepAndPruneSpace::create();

    CollisionContactParametersUnrecPtr DefaultCollisionParams = CollisionContactParameters::createEmpty();
        DefaultCollisionParams->setMode(dContactApprox1 | dContactBounce);
        DefaultCollisionParams->setMu(0.3);
        DefaultCollisionParams->setMu2(0.0);
        DefaultCollisionParams->setBounce(0.2);
        DefaultCollisionParams->setBounceSpeedThreshold(0.1);
        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);

    physHandler = PhysicsHandler::create();
        physHandler->setWorld(physicsWorld);
        physHandler->pushToSpaces(physicsSpace);
        physHandler->setUpdateNode(rootNode);
    physHandler->attachUpdateProducer(TutorialWindow->editEventProducer());
    

        rootNode->addAttachment(physHandler);    
        rootNode->addAttachment(physicsWorld);
        rootNode->addAttachment(physicsSpace);


	/************************************************************************/
	/* create spaces, geoms and bodys                                                                     */
	/************************************************************************/
    //create a group for our space
    GroupUnrecPtr spaceGroup;
	spaceGroupNode = makeCoredNode<Group>(&spaceGroup);
    //create the ground plane
    GeometryUnrecPtr plane;
	NodeUnrecPtr planeNode = makeBox(30.0, 30.0, 1.0, 1, 1, 1);
    plane = dynamic_cast<Geometry*>(planeNode->getCore());
    //and its Material
	SimpleMaterialUnrecPtr 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
	PhysicsBoxGeomUnrecPtr 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->addChild(planeNode);

        planeNode->addAttachment(planeGeom);
    
	    scene->addChild(spaceGroupNode);

    //Create Statistics Foreground
    SimpleStatisticsForegroundUnrecPtr 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");

    // tell the manager what to manage
    mgr->setRoot  (rootNode);

    mgr->getWindow()->getPort(0)->addForeground(PhysicsStatForeground);
    physHandler->setStatistics(PhysicsStatForeground->getCollector());

    // show the whole rootNode
    mgr->showAll();
    
    Vec2f WinSize(TutorialWindow->getDesktopSize() * 0.85f);
    Pnt2f WinPos((TutorialWindow->getDesktopSize() - WinSize) *0.5);
    TutorialWindow->openWindow(WinPos,
            WinSize,
            "05Explosion");

    //Enter main Loop
    TutorialWindow->mainLoop();

    osgExit();

    return 0;
}