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;
}
//////////////////////////////////////////////////////////////////////////
//! 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;
}
// 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;
}
