void Tutorial::tutorial2Update(float deltaTime)
{
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->m_gravityAcceleration.setValue(0,-10,0);
}
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
m_app->drawText3D("X",1,0,0,1);
m_app->drawText3D("Y",0,1,0,1);
m_app->drawText3D("Z",0,0,1,1);
for (int i=0;i<m_contactPoints.size();i++)
{
const LWContactPoint& contact = m_contactPoints[i];
b3Vector3 color=b3MakeVector3(1,1,0);
float lineWidth=3;
if (contact.m_distance<0)
{
color.setValue(1,0,0);
}
m_app->m_renderer->drawLine(contact.m_ptOnAWorld,contact.m_ptOnBWorld,color,lineWidth);
}
}
void ShipComponentDataWeapon::getAttributes(stdvector<std::pair<std::string, Unicode::String> >::fwd & data) const
{
ServerShipComponentData::getAttributes(data);
Unicode::String attrib;
static char buffer[128];
static const size_t buffer_size = sizeof (buffer);
snprintf(buffer, buffer_size, "%.1f-%.1f", m_weaponDamageMinimum, m_weaponDamageMaximum);
attrib = Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_damage, attrib));
snprintf(buffer, buffer_size, "%.3f", m_weaponEffectivenessShields);
attrib = Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_effectiveness_shields, attrib));
snprintf(buffer, buffer_size, "%.3f", m_weaponEffectivenessArmor);
attrib = Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_effectiveness_armor, attrib));
snprintf(buffer, buffer_size, "%.1f", m_weaponEnergyPerShot);
attrib = Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_energy_per_shot, attrib));
snprintf(buffer, buffer_size, "%.3f", m_weaponRefireRate);
attrib = Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_refire_rate, attrib));
if(m_weaponAmmoMaximum != 0)
{
IGNORE_RETURN(_itoa(m_weaponAmmoCurrent, buffer, 10));
attrib = Unicode::narrowToWide(buffer);
attrib += cm_slash;
IGNORE_RETURN(_itoa(m_weaponAmmoMaximum, buffer, 10));
attrib += Unicode::narrowToWide(buffer);
data.push_back(std::make_pair(cm_shipComponentCategory + SharedObjectAttributes::ship_component_weapon_ammo, attrib));
}
}
void Tutorial::tutorial1Update(float deltaTime)
{
for (int i=0;i<m_bodies.size();i++)
{
switch (m_stage)
{
case 0:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,0,0);
m_bodies[i]->m_linearVelocity=b3MakeVector3(1,0,0);
break;
}
case 1:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(-1,0,0);
break;
}
case 2:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(0,1,0);
break;
}
case 3:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(0,-1,0);
break;
}
case 4:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(0,0,1);
break;
}
case 5:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(0,0,-1);
break;
}
case 6:
{
m_bodies[i]->m_linearVelocity=b3MakeVector3(0,0,0);
m_bodies[i]->m_angularVelocity=b3MakeVector3(1,0,0);
break;
}
case 7:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(-1,0,0);
break;
}
case 8:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,1,0);
break;
}
case 9:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,-1,0);
break;
}
case 10:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,0,1);
break;
}
case 11:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,0,-1);
break;
}
default:
{
m_bodies[i]->m_angularVelocity=b3MakeVector3(0,0,0);
}
};
}
m_counter++;
if (m_counter>60)
{
m_counter=0;
m_stage++;
if (m_stage>11)
m_stage=0;
b3Printf("Stage = %d\n",m_stage);
b3Printf("linVel = %f,%f,%f\n",m_bodies[0]->m_linearVelocity.x,m_bodies[0]->m_linearVelocity.y,m_bodies[0]->m_linearVelocity.z);
b3Printf("angVel = %f,%f,%f\n",m_bodies[0]->m_angularVelocity.x,m_bodies[0]->m_angularVelocity.y,m_bodies[0]->m_angularVelocity.z);
}
}
virtual void stepSimulation(float deltaTime)
{
switch (m_tutorialIndex)
{
case TUT_VELOCITY:
{
tutorial1Update(deltaTime);
float xPos = m_bodies[0]->m_worldPose.m_position.x;
float xVel = m_bodies[0]->m_linearVelocity.x;
m_timeSeriesCanvas0->insertDataAtCurrentTime(xPos,0,true);
m_timeSeriesCanvas0->insertDataAtCurrentTime(xVel,1,true);
break;
}
case TUT_ACCELERATION:
{
tutorial2Update(deltaTime);
float yPos = m_bodies[0]->m_worldPose.m_position.y;
float yVel = m_bodies[0]->m_linearVelocity.y;
m_timeSeriesCanvas1->insertDataAtCurrentTime(yPos,0,true);
m_timeSeriesCanvas1->insertDataAtCurrentTime(yVel,1,true);
break;
}
case TUT_COLLISION:
{
m_contactPoints.clear();
LWContactPoint contactPoint;
tutorialCollisionUpdate(deltaTime, contactPoint);
m_contactPoints.push_back(contactPoint);
m_timeSeriesCanvas1->insertDataAtCurrentTime(contactPoint.m_distance,0,true);
break;
}
case TUT_SOLVE_CONTACT_CONSTRAINT:
{
m_contactPoints.clear();
LWContactPoint contactPoint;
tutorialSolveContactConstraintUpdate(deltaTime, contactPoint);
m_contactPoints.push_back(contactPoint);
if (contactPoint.m_distance<0)
{
m_bodies[0]->computeInvInertiaTensorWorld();
m_bodies[1]->computeInvInertiaTensorWorld();
b3Scalar appliedImpulse = resolveCollision(*m_bodies[0],
*m_bodies[1],
contactPoint
);
m_timeSeriesCanvas1->insertDataAtCurrentTime(appliedImpulse,1,true);
} else
{
m_timeSeriesCanvas1->insertDataAtCurrentTime(0.,1,true);
}
m_timeSeriesCanvas1->insertDataAtCurrentTime(contactPoint.m_distance,0,true);
break;
}
default:
{
}
};
if (m_timeSeriesCanvas0)
m_timeSeriesCanvas0->nextTick();
if (m_timeSeriesCanvas1)
m_timeSeriesCanvas1->nextTick();
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->integrateAcceleration(deltaTime);
m_bodies[i]->integrateVelocity(deltaTime);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
}
m_app->m_renderer->writeTransforms();
}
Tutorial(GUIHelperInterface* guiHelper, int tutorialIndex)
:m_app(guiHelper->getAppInterface()),
m_guiHelper(guiHelper),
m_tutorialIndex(tutorialIndex),
m_stage(0),
m_counter(0),
m_timeSeriesCanvas0(0),
m_timeSeriesCanvas1(0)
{
int numBodies = 1;
m_app->setUpAxis(1);
m_app->m_renderer->enableBlend(true);
switch (m_tutorialIndex)
{
case TUT_VELOCITY:
{
numBodies=10;
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Constant Velocity");
m_timeSeriesCanvas0 ->setupTimeSeries(2,60, 0);
m_timeSeriesCanvas0->addDataSource("X position (m)", 255,0,0);
m_timeSeriesCanvas0->addDataSource("X velocity (m/s)", 0,0,255);
m_timeSeriesCanvas0->addDataSource("dX/dt (m/s)", 0,0,0);
break;
}
case TUT_ACCELERATION:
{
numBodies=10;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,256,512,"Constant Acceleration");
m_timeSeriesCanvas1 ->setupTimeSeries(50,60, 0);
m_timeSeriesCanvas1->addDataSource("Y position (m)", 255,0,0);
m_timeSeriesCanvas1->addDataSource("Y velocity (m/s)", 0,0,255);
m_timeSeriesCanvas1->addDataSource("dY/dt (m/s)", 0,0,0);
break;
}
case TUT_COLLISION:
{
numBodies=2;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,200,"Distance");
m_timeSeriesCanvas1 ->setupTimeSeries(1.5,60, 0);
m_timeSeriesCanvas1->addDataSource("distance", 255,0,0);
break;
}
case TUT_SOLVE_CONTACT_CONSTRAINT:
{
numBodies=2;
m_timeSeriesCanvas1 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,200,"Collision Impulse");
m_timeSeriesCanvas1 ->setupTimeSeries(1.5,60, 0);
m_timeSeriesCanvas1->addDataSource("Distance", 0,0,255);
m_timeSeriesCanvas1->addDataSource("Impulse magnutide", 255,0,0);
{
SliderParams slider("Restitution",&gRestitution);
slider.m_minVal=0;
slider.m_maxVal=1;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass A",&gMassA);
slider.m_minVal=0;
slider.m_maxVal=100;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
{
SliderParams slider("Mass B",&gMassB);
slider.m_minVal=0;
slider.m_maxVal=100;
m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
}
break;
}
default:
{
m_timeSeriesCanvas0 = new TimeSeriesCanvas(m_app->m_2dCanvasInterface,512,256,"Unknown");
m_timeSeriesCanvas0 ->setupTimeSeries(1,60, 0);
}
};
if (m_tutorialIndex==TUT_VELOCITY)
{
int boxId = m_app->registerCubeShape(100,1,100);
b3Vector3 pos = b3MakeVector3(0,-3.5,0);
b3Quaternion orn(0,0,0,1);
b3Vector4 color = b3MakeVector4(1,1,1,1);
b3Vector3 scaling = b3MakeVector3(1,1,1);
m_app->m_renderer->registerGraphicsInstance(boxId,pos,orn,color,scaling);
}
for (int i=0;i<numBodies;i++)
{
m_bodies.push_back(new LWRigidBody());
}
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->m_worldPose.m_position.setValue((i/4)*5,3,(i&3)*5);
}
{
int textureIndex = -1;
if (1)
{
int width,height,n;
const char* filename = "data/cube.png";
const unsigned char* image=0;
const char* prefix[]={"./","../","../../","../../../","../../../../"};
int numprefix = sizeof(prefix)/sizeof(const char*);
for (int i=0;!image && i<numprefix;i++)
{
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],filename);
image = stbi_load(relativeFileName, &width, &height, &n, 0);
}
b3Assert(image);
if (image)
{
textureIndex = m_app->m_renderer->registerTexture(image,width,height);
}
}
// int boxId = m_app->registerCubeShape(1,1,1,textureIndex);
int boxId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_HIGH, textureIndex);
b3Vector4 color = b3MakeVector4(1,1,1,0.8);
b3Vector3 scaling = b3MakeVector3(SPHERE_RADIUS,SPHERE_RADIUS,SPHERE_RADIUS);
for (int i=0;i<m_bodies.size();i++)
{
m_bodies[i]->m_collisionShape.m_sphere.m_radius = SPHERE_RADIUS;
m_bodies[i]->m_collisionShape.m_type = LW_SPHERE_TYPE;
m_bodies[i]->m_graphicsIndex = m_app->m_renderer->registerGraphicsInstance(boxId,m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation,color,scaling);
m_app->m_renderer->writeSingleInstanceTransformToCPU(m_bodies[i]->m_worldPose.m_position, m_bodies[i]->m_worldPose.m_orientation, m_bodies[i]->m_graphicsIndex);
}
}
if (m_tutorialIndex == TUT_SOLVE_CONTACT_CONSTRAINT)
{
m_bodies[0]->m_invMass = gMassA? 1./gMassA : 0;
m_bodies[0]->m_collisionShape.m_sphere.computeLocalInertia(gMassA,m_bodies[0]->m_localInertia);
m_bodies[1]->m_invMass =gMassB? 1./gMassB : 0;
m_bodies[1]->m_collisionShape.m_sphere.computeLocalInertia(gMassB,m_bodies[1]->m_localInertia);
if (gMassA)
m_bodies[0]->m_linearVelocity.setValue(0,0,1);
if (gMassB)
m_bodies[1]->m_linearVelocity.setValue(0,0,-1);
}
m_app->m_renderer->writeTransforms();
}
