void Ragdoll_experiment::initializeBodies() {
ground = createGround();
ragDoll = createRagdoll();
ground->setFriction(GROUND_FRICTION);
ground->setRestitution(GROUND_RESTITUTION);
}
void DemoKeeper::createScene()
{
base::BaseDemoManager::createScene();
std::string controllerCategory = MyGUI::ControllerManager::getInstance().getCategoryName();
MyGUI::FactoryManager::getInstance().registerFactory<ControllerRandomSelected>(controllerCategory);
MyGUI::FactoryManager::getInstance().registerFactory<ControllerRandomProgress>(controllerCategory);
MyGUI::FactoryManager::getInstance().registerFactory<ControllerSmoothProgress>(controllerCategory);
MyGUI::FactoryManager::getInstance().registerFactory<ControllerSmoothCaption>(controllerCategory);
std::string resourceCategory = MyGUI::ResourceManager::getInstance().getCategoryName();
MyGUI::FactoryManager::getInstance().registerFactory<ResourceDevice>(resourceCategory);
std::string layerCategory = MyGUI::LayerManager::getInstance().getCategoryName();
MyGUI::FactoryManager::getInstance().registerFactory<MyGUI::RTTLayer>(layerCategory);
createGround();
createObject();
setupCamera();
MyGUI::ResourceManager::getInstance().load("Resources.xml");
mCommandManager = new CommandManager();
mMonitorPanel = new MonitorPanel();
mKeyboardPanel = new KeyboardPanel();
}
Stage::Stage()
{
world = new World();
freeDraw = new FreeDraw();
customBox = new CustomBox();
customPolygon = new CustomPolygon();
customCircle = new CustomCircle();
debugDrawOn = false;
smallBodiesOn = false;
cursorOn = true;
autoDumpOn = false;
bmpDrawOn = true;
cleanModeOn = false;
dt = gtime;
bodyType = Random;
gravity.x = 0.0f;
gravity.y = -10.0f;
bodiesSize = RANDBODYSIZE;
bodiesRadius = RANDHALFSIZE;
setMouseLock(false);
createGround();
}
bool LiquidScene::init() {
if ( !Layer::init() ) {
return false;
}
srand((unsigned) time(NULL));
createPhysWorld();
createGround();
createParticle();
// デバック表示用
initDebugDraw();
initTouchEventListener();
Size window = Director::getInstance()->getWinSize();
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 + 33, 33));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 - 33, 33));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 + 33 + 66, 33));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 - 33 - 66, 33));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 + 33 + 66, 33 + 66));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 - 33 - 66, 33 + 66));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 + 33 + 66, 33 + 66 + 66));
drawBox2dSpriteAt(createBox2DSpriteData(SpriteType::Box), Point(window.width/2.0 - 33 - 66, 33 + 66 + 66));
scheduleUpdate();
return true;
}
tgWorld *createWorld() {
const tgWorld::Config config(98.1); // gravity, cm/sec^2 Use this to adjust length scale of world.
// NB: by changing the setting below from 981 to 98.1, we've
// scaled the world length scale to decimeters not cm.
tgBoxGround* ground = createGround();
return new tgWorld(config, ground);
}
void Game::init()
{
window.setFramerateLimit(60),
createGround(400.f, 500.f);
groundTexture.loadFromFile("assets/ground.png");
boxTexture.loadFromFile("assets/box.png");
}
AddRemoveBodiesDemo::AddRemoveBodiesDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env),
m_frameCount(0),
m_currentBody(0)
{
for( int i = 0; i < NUM_BODIES; i++ )
{
m_bodies[i] = HK_NULL;
}
//
// Setup the camera
//
{
hkVector4 from(0.0f, 30.0f, 50.0f);
hkVector4 to (0.0f, 0.0f, 0.0f);
hkVector4 up (0.0f, 1.0f, 0.0f);
setupDefaultCameras(env, from, to, up);
float lightDir[] = { -1, -0.5f , -0.25f};
float lightAabbMin[] = { -15, -15, -15};
float lightAabbMax[] = { 15, 15, 15};
setLightAndFixedShadow(lightDir, lightAabbMin, lightAabbMax );
}
//
// Setup and create the hkpWorld
//
{
hkpWorldCinfo info;
info.m_gravity = hkVector4(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(1000.0f);
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_8ITERS_MEDIUM);
info.m_collisionTolerance = 0.01f;
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
// Register the single agent required (a hkpBoxBoxAgent)
{
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
// Create the rigid bodies
createBodies();
// Create the ground
createGround();
m_world->unlock();
}
void Visualize::initPhysicWorld() {
m_transform.setIdentity();
//Make a new physics world
m_world = new hkpWorld(hkpWorldCinfo());
//Register all collision agents
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
createGround();
addDynamicBody();
}
Level::Level()
{
b2Vec2 Gravity(0.f, 9.8f);
World = new b2World(Gravity);
createGround(400.f, 500.f);
QTimer* timer = new QTimer(this);
timer->setInterval(60);
connect(timer, SIGNAL(timeout()), this, SLOT(step()));
timer->start();
//boxScene = new QGraphicsScene();
}
void RagDollDemo::initPhysics()
{
Bullet2RigidBodyDemo::initPhysics();
int cubeShapeId = m_glApp->registerCubeShape();
createGround(cubeShapeId);
btVector3 offset(0,3,0);
RagDoll* doll = new RagDoll(this->m_dynamicsWorld,offset,m_glApp);
offset.setValue(0,6,0);
doll = new RagDoll(this->m_dynamicsWorld,offset,m_glApp);
m_glApp->m_instancingRenderer->writeTransforms();
}
void FeatherstoneDemo1::initPhysics()
{
Bullet2MultiBodyDemo::initPhysics();
createGround();
btMultiBodySettings settings;
settings.m_isFixedBase = false;
settings.m_basePosition.setValue(0,10,0);
settings.m_numLinks = 10;
btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
m_glApp->m_instancingRenderer->writeTransforms();
}
void RenderScene(GLenum mode)
{
glMatrixMode(GL_MODELVIEW);
if(flag_light == 1)
{
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
}
else
{
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
}
glLightf(GL_LIGHT0, GL_CONSTANT_ATTENUATION, 1.5);
glLightf(GL_LIGHT0, GL_LINEAR_ATTENUATION, 0);
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glTranslatef(0.0, - 2 * height, 0.0);
glFrontFace(GL_CW);
glScalef(1.0f, -1.0f, 1.0f);
glTranslatef(2 * movex / wide_screen, 2 * movey / height_screen, 2 * movez / wide_screen);
glLightfv(GL_LIGHT0, GL_POSITION, light_postion);
glTranslatef( -2 * movex / wide_screen, -2 * movey / height_screen, -2 * movez / wide_screen);
createWall();
createCeiling();
createFurnishings();
glScalef(1.0f, -1.0f, 1.0f);
glTranslatef(0.0, 2 * height, 0.0);
glFrontFace(GL_CCW);
glDisable(GL_LIGHTING);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
createGround();
glDisable(GL_BLEND);
glEnable(GL_LIGHTING);
draw(mode);
}
void FeatherstoneDemo2::initPhysics()
{
Bullet2MultiBodyDemo::initPhysics();
createGround();
/* btMultiBodySettings settings;
settings.m_isFixedBase = false;
settings.m_basePosition.setValue(0,20,0);
settings.m_numLinks = 3;
settings.m_usePrismatic = true;
btMultiBody* mb = createFeatherstoneMultiBody(m_dynamicsWorld,settings);
*/
btVector3 offset(0,2,0);
RagDoll2* doll = new RagDoll2(m_dynamicsWorld,offset,m_glApp);
m_glApp->m_instancingRenderer->writeTransforms();
}
void draw(GLenum mode)
{
glMatrixMode(GL_MODELVIEW);
if(flag_light == 1)
{
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
}
else
{
glDisable(GL_LIGHTING);
glDisable(GL_LIGHT0);
}
createLightAndProxy(mode);
createWall();
createGround();
// createCeiling();
createFurnishings();
}
void DemoKeeper::createScene()
{
MyGUI::FactoryManager::getInstance().registerFactory<ControllerRandomSelected>("Controller");
MyGUI::FactoryManager::getInstance().registerFactory<ControllerRandomProgress>("Controller");
MyGUI::FactoryManager::getInstance().registerFactory<ControllerSmoothProgress>("Controller");
MyGUI::FactoryManager::getInstance().registerFactory<ControllerSmoothCaption>("Controller");
MyGUI::FactoryManager::getInstance().registerFactory<ResourceDevice>("Resource");
MyGUI::FactoryManager::getInstance().registerFactory<MyGUI::RTTLayer>("Layer");
createGround();
createObject();
setupCamera();
getGUI()->load("rtt_data.xml");
mCommandManager = new CommandManager();
mMonitorPanel = new MonitorPanel();
mKeyboardPanel = new KeyboardPanel();
}
ofxGameEng& ofxGameEng::loadXml(string filePath = "config.xml"){
ofxXmlSettings XML;
//cout << "Reading game engine configuration file " << filePath;
if (XML.loadFile(filePath)){
//cout << " [ OK ]" << endl;
init();
if ( XML.tagExists("world:gravity"))
setGravity(XML.getValue("world:gravity:x",0),
XML.getValue("world:gravity:y",10) );
setFPS(XML.getValue("world:fps",30));
bool bGrabbing = XML.getValue("world:grabbing",0);
if (bGrabbing)
registerGrabbing();
if ( XML.tagExists("world:ground:x"))
groundX = XML.getValue("world:ground:x",0);
if ( XML.tagExists("world:ground:y"))
groundY = XML.getValue("world:ground:y",10);
if( boundingObj != NULL ){
createGround(ofPoint( (groundX!=-1)?groundX:0,
(groundY!=-1)?groundY:0),
ofPoint((groundX!=-1)?groundX:boundingObj->getScaledWidth(),
(groundY!=-1)?groundY:boundingObj->getScaledHeight()));
createBounds(0, 0, boundingObj->getScaledWidth(),boundingObj->getScaledHeight());
}
// TODO:
// This need some love
} else
cout << " [ FAIL ]" << endl;
return * this;
}
/* ....................................................................... */
osgODE::World*
createWorld(void)
{
PS_DBG("%s", "createWorld()") ;
osgODE::Space* space = new osgODE::Space() ;
PS_ASSERT1(space) ;
space->setERP(0.2) ;
space->setCFM(1.0e-5) ;
osgODE::NearCallback* near_callback = createNearCallback() ;
PS_ASSERT1(near_callback) ;
space->setNearCallback( near_callback ) ;
osgODE::ODEObject* ball = createBall() ;
PS_ASSERT1(ball) ;
osgODE::ODEObject* ground = createGround() ;
PS_ASSERT1(ground) ;
space->addObject(ball) ;
space->addObject(ground) ;
return space ;
}
KeyframingDemo::KeyframingDemo(hkDemoEnvironment* env)
: hkDefaultPhysicsDemo(env)
{
//
// Set parameters for keyframes, and number of bodies
//
m_speed = 0.2f;
m_radius = 5.0f;
m_numBodies = 15;
m_time = 0.0f;
//
// Setup the camera
//
{
hkVector4 from(0, 40, 40);
hkVector4 to(0, 0, 0);
hkVector4 up(0, 1, 0);
setupDefaultCameras(env, from, to, up);
}
//
// Setup and create the hkpWorld.
//
{
hkpWorldCinfo info;
info.m_gravity = hkVector4(0.0f, -9.8f, 0.0f);
info.setBroadPhaseWorldSize(150.0f);
info.setupSolverInfo(hkpWorldCinfo::SOLVER_TYPE_4ITERS_MEDIUM);
m_world = new hkpWorld( info );
m_world->lock();
setupGraphics();
}
//
// Register the single agent required (a hkpBoxBoxAgent).
//
{
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
}
//
// Create the rigid bodies.
//
createBodies();
//
// Create the ground.
//
createGround();
//
// Create the keyframed body.
//
{
const hkVector4 halfExtents(3.0f, 1.75f, 0.3f);
hkpBoxShape* shape = new hkpBoxShape(halfExtents, 0 );
// Assign the rigid body properties
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_shape = shape;
// By setting the motion type to hkpMotion::MOTION_KEYFRAMED we are essentially telling Havok that this
// body has infinite mass. Thus neither applying forces nor impulses can change the velocity of the body and
// as a result, the body is considered totally immovable during interactions (collisions) with other bodies.
// This means that the user can force the body to follow a set of keyframes by directly setting the
// velocity required to move to the next keyframe before each world step.
// The body is guaranteed to reach the next keyframe, even if other bodies collide with it.
// To help convert keyframes to velocities we have provided some useful methods in hkpKeyFrameUtility.
// To create a keyframed object simply set the motion type as follows:
bodyInfo.m_motionType = hkpMotion::MOTION_KEYFRAMED;
{
// Get inital keyframe.
getKeyframePositionAndRotation(0.0f, bodyInfo.m_position, bodyInfo.m_rotation);
}
// Add our keyframed body.
m_keyframedBody = new hkpRigidBody(bodyInfo);
m_world->addEntity(m_keyframedBody);
m_keyframedBody->removeReference();
shape->removeReference();
}
m_world->unlock();
}
void BasicDemo::initPhysics()
{
// Bullet2RigidBodyDemo::initPhysics();
m_config = new btDefaultCollisionConfiguration;
m_dispatcher = new btCollisionDispatcher(m_config);
m_bp = new btDbvtBroadphase();
m_solver = new btNNCGConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_bp,m_solver,m_config);
int curColor=0;
//create ground
int cubeShapeId = m_glApp->registerCubeShape();
float pos[]={0,0,0};
float orn[]={0,0,0,1};
createGround(cubeShapeId);
{
float halfExtents[]={scaling,scaling,scaling,1};
btVector4 colors[4] =
{
btVector4(1,0,0,1),
btVector4(0,1,0,1),
btVector4(0,1,1,1),
btVector4(1,1,0,1),
};
btTransform startTransform;
startTransform.setIdentity();
btScalar mass = 1.f;
btVector3 localInertia;
btBoxShape* colShape = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
colShape ->calculateLocalInertia(mass,localInertia);
for (int k=0;k<ARRAY_SIZE_Y;k++)
{
for (int i=0;i<ARRAY_SIZE_X;i++)
{
for(int j = 0;j<ARRAY_SIZE_Z;j++)
{
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
startTransform.setOrigin(btVector3(
btScalar(2.0*scaling*i),
btScalar(2.*scaling+2.0*scaling*k),
btScalar(2.0*scaling*j)));
m_glApp->m_instancingRenderer->registerGraphicsInstance(cubeShapeId,startTransform.getOrigin(),startTransform.getRotation(),color,halfExtents);
//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);
}
}
}
}
m_glApp->m_instancingRenderer->writeTransforms();
}
bool Stage::step(void)
{
updateInput();
menuOn = false;
if (keys[KEYESC])
return false;
if (mouse[0] or (autoDumpOn and (bodyType == Random or bodyType == Box or bodyType == Circle)))
{
bodiesSize = smallBodiesOn ? SMALLBODYSIZE : RANDBODYSIZE;
bodiesRadius = smallBodiesOn ? SMALLHALFSIZE : RANDHALFSIZE;
switch (bodyType)
{
case Random:
if (RANDOM(0, 1))
world->makeBox(coordAllegToB2(Point(mouse_x, mouse_y)), bodiesSize);
else
world->makeCircle(coordAllegToB2(Point(mouse_x, mouse_y)), bodiesRadius);
break;
case Box:
world->makeBox(coordAllegToB2(Point(mouse_x, mouse_y)), bodiesSize);
break;
case Circle:
world->makeCircle(coordAllegToB2(Point(mouse_x, mouse_y)), bodiesRadius);
break;
case Free_Draw:
freeDraw->takePoint(Point(mouse_x, mouse_y));
break;
case Custom_Polygon:
customPolygon->takePoint(Point(mouse_x, mouse_y));
break;
case Custom_Box:
customBox->takePoint(Point(mouse_x, mouse_y));
break;
case Custom_Circle:
customCircle->takePoint(Point(mouse_x, mouse_y));
break;
}
}
else
{
if (freeDraw->On)
freeDraw->makeBody(world);
if (customBox->On)
customBox->makeBody(world);
if (customCircle->On)
customCircle->makeBody(world);
if (customPolygon->On)
customPolygon->updateView(Point(mouse_x, mouse_y));
}
if (mouse[1])
{
if (customPolygon->On)
customPolygon->makeBody(world);
else
world->makeBomb(coordAllegToB2(Point(mouse_x, mouse_y)));
}
if (keys[KEY1])
bodyType = Random;
if (keys[KEY2])
bodyType = Box;
if (keys[KEY3])
bodyType = Circle;
if (keys[KEY4])
{
bodyType = Free_Draw;
setMouseLock(false);
}
if (keys[KEY5])
{
bodyType = Custom_Box;
setMouseLock(false);
}
if (keys[KEY6])
world->destroyLastBody();
if (keys[KEY7])
world->toggleStaticMode();
if (keys[KEY8])
world->toggleSimulation();
if (keys[KEY9])
if (bodyType == Random or bodyType == Box or bodyType == Circle)
toggleMouseLock();
if (keys[KEY0])
{
world->destroyAllBodies();
createGround();
}
if (keys[KEYP])
pyramidShow();
if (keys[KEYTAB])
menuOn = true;
if (keys[KEYH])
cleanModeOn = !cleanModeOn;
if (keys[KEYA])
autoDumpOn = !autoDumpOn;
if (keys[KEYC])
cursorOn = !cursorOn;
if (keys[KEYX])
{
bodyType = Custom_Circle;
setMouseLock(false);
}
if (keys[KEYV])
{
bodyType = Custom_Polygon;
setMouseLock(true);
}
if (keys[KEYN])
world->destroyLastNonStaticBody();
if (keys[KEYM])
world->destroyAllNonStaticBodies();
if (keys[KEYS])
smallBodiesOn = !smallBodiesOn;
if (keys[KEYUP])
{
gravity.y += 2;
world->setGravity(gravity);
}
if (keys[KEYDOWN])
{
gravity.y -= 2;
world->setGravity(gravity);
}
if (keys[KEYLEFT])
{
gravity.x -= 2;
world->setGravity(gravity);
}
if (keys[KEYRIGHT])
{
gravity.x += 2;
world->setGravity(gravity);
}
if (keys[KEYD])
{
if (debugDrawOn)
{
if (bmpDrawOn)
{
bmpDrawOn = false;
}
else
{
bmpDrawOn = true;
toggleDebugDraw();
}
}
else
{
toggleDebugDraw();
}
}
world->simulate();
return true;
}
// ------------------------------------------------------ create Ground
void ofxBox2d::createGround(const ofPoint & p1, const ofPoint & p2) {
createGround(p1.x, p1.y, p2.x, p2.y);
}
osg::ref_ptr<osg::Node> Sokoban::NodeFactory::getOrCreateGeode(Type element) {
if(_geoCache.find(element) != _geoCache.end()) {
return _geoCache[element];
}
osg::ref_ptr<osg::Geode> noeudGeo = new osg::Geode();
osg::ref_ptr<osg::ShapeDrawable> shape;
std::string textureImage = TEXTURE_DIR;
if (isAButton(element)) {
std::map<Sokoban::Type, std::string>::iterator it = _textures.find(element);
if (it != _textures.end())
textureImage.append(it->second);
else
textureImage.append("default.jpg");
shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, 0), BUTTON_LENGTH_X, BUTTON_LENGTH_Y, BUTTON_LENGTH_Z));
noeudGeo->addDrawable(shape);
setTexture(noeudGeo, element, textureImage);
osg::ref_ptr<osg::Geode> switchNoeudGeo = new osg::Geode();
std::string switchTextureImage = TEXTURE_DIR;
it = _switchTextures.find(element);
if (it != _switchTextures.end())
switchTextureImage.append(it->second);
else
switchTextureImage.append("default.jpg");
osg::ref_ptr<osg::ShapeDrawable> switchShape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, 0), BUTTON_LENGTH_X, BUTTON_LENGTH_Y, BUTTON_LENGTH_Z));
switchNoeudGeo->addDrawable(switchShape);
setTexture(switchNoeudGeo, element, switchTextureImage);
osg::ref_ptr<osg::Switch> nodeSwitch = new osg::Switch();
nodeSwitch->insertChild(0, noeudGeo);
nodeSwitch->insertChild(1, switchNoeudGeo);
nodeSwitch->setChildValue(switchNoeudGeo, false);
return nodeSwitch;
} else {
float lengthX, lengthY, lengthZ;
//Switch on the element for texture and shape
switch(element)
{
case GROUND :
noeudGeo->addDrawable(createGround());
break;
case BOX:
shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, BOX_CENTER_Z), BOX_WIDTH));
break;
case WALL:
lengthX = DEFAULT_LENGTH_X, lengthY = DEFAULT_LENGTH_Y, lengthZ = WALL_LENGTH_Z;
//shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, 0.55), lengthX, lengthY, lengthZ));
shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, WALL_CENTER_Z), lengthX, lengthY, lengthZ));
break;
case TARGET:
lengthX = DEFAULT_LENGTH_X, lengthY = DEFAULT_LENGTH_Y, lengthZ = TARGET_LENGTH_Z;
//shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, -0.6), lengthX, lengthY, lengthZ));
shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, TARGET_CENTER_Z), lengthX, lengthY, lengthZ));
break;
case PLAYER:
//shape = new osg::ShapeDrawable(new osg::Sphere(osg::Vec3(0, 0, -0.5), PLAYER_RADIUS));
shape = new osg::ShapeDrawable(new osg::Sphere(osg::Vec3(0, 0, PLAYER_CENTER_Z), PLAYER_RADIUS));
break;
default:
shape = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, 0), DEFAULT_WIDTH));
break;
}
}
if (element != GROUND)
noeudGeo->addDrawable(shape);
std::map<Sokoban::Type, std::string>::iterator it = _textures.find(element);
if (it != _textures.end())
textureImage.append(it->second);
else
textureImage.append("default.jpg");
noeudGeo = setTexture(noeudGeo, element, textureImage);
_geoCache.insert(std::make_pair(element, noeudGeo));
return noeudGeo;
}
void DemoKeeper::KeyframingDemo( void )
{
mWorld->markForWrite();
//
// Set parameters for keyframes, and number of bodies
//
m_speed = 0.2f;
m_radius = 5.0f;
m_numBodies = 15;
m_time = 0.0f;
//
// Create the rigid bodies.
//
createBodies();
//
// Create the ground.
//
createGround();
//
// Create the keyframed body.
//
{
const hkVector4 halfExtents(3.0f, 1.75f, 0.3f);
hkpBoxShape* shape = new hkpBoxShape(halfExtents, 0 );
// Assign the rigid body properties
hkpRigidBodyCinfo bodyInfo;
bodyInfo.m_shape = shape;
// By setting the motion type to hkpMotion::MOTION_KEYFRAMED we are essentially telling Havok that this
// body has infinite mass. Thus neither applying forces nor impulses can change the velocity of the body and
// as a result, the body is considered totally immovable during interactions (collisions) with other bodies.
// This means that the user can force the body to follow a set of keyframes by directly setting the
// velocity required to move to the next keyframe before each world step.
// The body is guaranteed to reach the next keyframe, even if other bodies collide with it.
// To help convert keyframes to velocities we have provided some useful methods in hkpKeyFrameUtility.
// To create a keyframed object simply set the motion type as follows:
bodyInfo.m_motionType = hkpMotion::MOTION_KEYFRAMED;
{
// Get inital keyframe.
getKeyframePositionAndRotation(0.0f, bodyInfo.m_position, bodyInfo.m_rotation);
}
// Add our keyframed body.
m_keyframedBody = new hkpRigidBody(bodyInfo);
mWorld->addEntity(m_keyframedBody);
m_keyframedBody->removeReference();
shape->removeReference();
//render it with Ogre
Ogre::SceneNode* boxNode = mSceneMgr->getRootSceneNode()->createChildSceneNode();
//scale
boxNode->scale(6, 3.5, 0.6);
//display and sync
Ogre::Entity *ent = mSceneMgr->createEntity(Ogre::StringConverter::toString(mLabMgr->getEntityCount()),"defCube.mesh");
mLabMgr->setColor(ent, Ogre::Vector3(rand()/(double)RAND_MAX,rand()/(double)RAND_MAX,rand()/(double)RAND_MAX));
HkOgre::Renderable* rend = new HkOgre::Renderable(boxNode, m_keyframedBody,mWorld);
boxNode->attachObject(ent);
//register to lab manager
mLabMgr->registerEnity( boxNode, m_keyframedBody);
}
mWorld->unmarkForWrite();
Keyframe_demoRunning = true;
}
DestructibleWallsDemo::DestructibleWallsDemo(hkDemoEnvironment* env)
:hkDefaultPhysicsDemo(env),
m_fractureUtility(HK_NULL),
m_constraintListener(HK_NULL),
m_shootingDirX(.0f),
m_shootingDirY(.0f),
m_gunCounter(0),
m_centerOfScene( hkVector4::getZero() ),
m_brickHalfExtents( 0.5f, 0.5f, 0.5f )
{
// General setup
m_frameToSimulationFrequencyRatio = 1.0f;
m_timestep = 1.0f / 60.0f;
// read demo options
//const BreakableWallVariant& variant = g_variants[m_variantId];
m_collisionDetectionType = (m_options.m_useParallelSimulation)? PARALLEL : SIMPLE; //variant.m_Type;
// wall shape options
int wallWidth = m_options.m_WallsWidth;
int wallHeight = m_options.m_WallsHeight;
// setup camera
{
hkReal tot = static_cast<hkReal>( m_options.m_WallsHeight + m_options.m_WallsWidth );
if(tot < 5)
tot = 5;
//hkVector4 from(-25.0f, 30.0f, 30.0f);
hkVector4 from(-tot*1.0f, tot*1.25f, tot*1.25f);
hkVector4 to( -5.0f, 15.0f, 15.0f);
//hkVector4 to ( 0.0f, 0.0f, 0.0f);
hkVector4 up( 0.0f, 1.0f, 0.0f);
setupDefaultCameras( env, from, to, up );
}
// Main world initialization
// define world info..
hkpWorldCinfo worldInfo;
worldInfo.setBroadPhaseWorldSize(500.0f);
worldInfo.setupSolverInfo(hkpWorldCinfo/*::SOLVER_TYPE_8ITERS_HARD*/::SOLVER_TYPE_4ITERS_HARD);// using 8 iterations is much stiffer and realistic..
worldInfo.m_collisionTolerance = 0.01f;
worldInfo.m_gravity = hkVector4( 0.0f,-9.8f,0.0f);
worldInfo.m_simulationType = hkpWorldCinfo::SIMULATION_TYPE_CONTINUOUS;
worldInfo.m_broadPhaseBorderBehaviour = hkpWorldCinfo::BROADPHASE_BORDER_FIX_ENTITY;
worldInfo.m_enableDeactivation = false;
// .. create the world..
m_world = new hkpWorld(worldInfo);
// ..and LOCK it
m_world->lock();
// register agents and setup graphics
hkpAgentRegisterUtil::registerAllAgents(m_world->getCollisionDispatcher());
// to enable wireframe display remove comment from next line
if(m_options.m_wireFrameMode)
m_env->m_window->getViewport(0)->toggleState(HKG_ENABLED_WIREFRAME);
setupGraphics();
// Create and add the ground
hkpRigidBody* ground = createGround();
m_world->addEntity( ground , HK_ENTITY_ACTIVATION_DO_NOT_ACTIVATE);
ground->removeReference();
if(g_variants[m_variantId].singleBrick) // TMP SINGLE BRICK FRACTURE VARIANT
{
// geometry of a wall brick
hkpBoxShape* brickGeom = new hkpBoxShape(m_brickHalfExtents, 0);
// wall builder settings
BrickwallBuilderDescriptor bwDescriptor;
bwDescriptor.m_brickShape = brickGeom;
bwDescriptor.m_width = 1;
bwDescriptor.m_height = 1;
bwDescriptor.m_brickMass = 10.0f;
// Set positions and orientations for the walls
m_centerOfScene(1) += 10.0f;
bwDescriptor.m_transform.set(hkQuaternion::getIdentity(), m_centerOfScene);
//bwDescriptor.m_position = m_centerOfScene;
//bwDescriptor.m_orientation.setIdentity();
// create the fracture utility
m_fractureUtility = new WallFractureUtility( m_world );
// ...and add the wall
WallWrapper* addedWall = m_fractureUtility->addWallToSimulation(bwDescriptor);
// make this wall fracturable
addedWall->toggleFracturableState(true);
brickGeom->removeReference();
} else
// WORLD AND WALLS SETUP
{
// common to both parallel and simple
// geometry of a wall brick
hkpBoxShape* brickGeom = new hkpBoxShape(m_brickHalfExtents, 0);
// wall builder settings
BrickwallBuilderDescriptor bwDescriptor;
bwDescriptor.m_brickShape = brickGeom;
bwDescriptor.m_width = wallWidth;
bwDescriptor.m_height = wallHeight;
bwDescriptor.m_brickMass = 10.0f;
bwDescriptor.m_strength = m_options.m_bottomConstraintStrength;
bwDescriptor.m_lowerThreshold = m_options.m_topConstraintStrength;
bwDescriptor.m_attachToGround = m_options.m_attachToGround;
bwDescriptor.m_theGround = m_world->getFixedRigidBody();
// Set positions and orientations for the walls
//hkArray< hkVector4 > wallsPositions(3);
//hkArray< hkQuaternion > wallsOrientations(3);
hkArray< hkTransform > wallTransforms(3);
{
posOnGround(m_world, m_centerOfScene, m_centerOfScene);
// wall 1
m_centerOfScene(2) += wallWidth*m_brickHalfExtents(0);
wallTransforms[0].set(hkQuaternion::getIdentity(), m_centerOfScene);
//wallsPositions[0] = m_centerOfScene;
//wallsOrientations[0].setIdentity();
// wall 2
m_centerOfScene(2) -= wallWidth*m_brickHalfExtents(0)*2.0f;
wallTransforms[1].set(hkQuaternion::getIdentity(), m_centerOfScene);
//wallsPositions[1] = m_centerOfScene;
//wallsOrientations[1].setIdentity();
// wall 3
m_centerOfScene(2) += wallWidth*m_brickHalfExtents(0);
m_centerOfScene(0) += wallWidth*m_brickHalfExtents(0);
m_centerOfScene(0) += m_brickHalfExtents(0);
//wallsPositions[2] = m_centerOfScene;
hkVector4 axis(0,1,0);
hkQuaternion rot( axis, HK_REAL_PI/2.0f );
//wallsOrientations[2].setAxisAngle( axis, HK_REAL_PI/2.0f );
wallTransforms[2].set(rot, m_centerOfScene);
}
//
// Differentiate simple and parallel simulation versions
switch(m_collisionDetectionType)
{
case SIMPLE :
{
// Set up a collision filter so we can disable collisions between the bricks we constrain together
hkpCollisionFilter* brickFilter = new BrickFilter();
m_world->setCollisionFilter( brickFilter );
brickFilter->removeReference();
// constraint listener to enable collision detection between bricks whose constraints are broken
m_constraintListener = new BrickConstraintListenerEntities();
m_world->addConstraintListener( m_constraintListener );
for(int i=0; i<3; ++i)
{
// build walls
bwDescriptor.m_transform = wallTransforms[i];
//bwDescriptor.m_position = wallsPositions[i];
//bwDescriptor.m_orientation = wallsOrientations[i];
bwDescriptor.m_wallID = i+1;
createAddBrickWall(m_world, bwDescriptor);
}
}
break;
case PARALLEL :
{
// create the fracture manager utility
m_fractureUtility = new WallFractureUtility( m_world );
for(int i=0; i< 3; ++i)
{
// set positions and ask the utility to create and add the walls
bwDescriptor.m_transform = wallTransforms[i];
/*bwDescriptor.m_position = wallsPositions[i];
bwDescriptor.m_orientation = wallsOrientations[i];*/
m_fractureUtility->addWallToSimulation( bwDescriptor );
}
}
} // end of switch
brickGeom->removeReference();
}
// UNLOCK the main world
m_world->unlock();
}
int main(int, char const**) {
int width = 1000;
int height = 600;
char buff[15];
srand(time(NULL));
sf::Clock clock;
sf::ContextSettings settings;
settings.antialiasingLevel = 8;
// Create the main window
sf::RenderWindow window(sf::VideoMode(width, height), "My First SFML example", sf::Style::Default, settings);
window.setFramerateLimit(60);
sf::Font font;
if (!font.loadFromFile("sansation.ttf")) {
return EXIT_FAILURE;
}
sf::Text text;
text.setFont(font);
text.setString("Hello Benchmark!");
text.setCharacterSize(24);
int text_x = (width - (text.getCharacterSize() * 5)) / 2;
text.setPosition(text_x, 0);
text.setColor(sf::Color::White);
sf::Text fps;
fps.setFont(font);
fps.setCharacterSize(20);
fps.setColor(sf::Color::Black);
sf::Texture barrel;
if (!barrel.loadFromFile("barrel.png")) {
return EXIT_FAILURE;
}
std::vector<sf::Sprite> sprites(MAX_SPRITES);
for (int i=0; i<MAX_SPRITES; i++) {
sprites[i].setTexture(barrel);
int x = rand() % width;
int y = rand() % height;
sprites[i].setPosition(x, y);
}
// Box2D
b2Vec2 gravity(0.0f, 10.0f);
b2World world(gravity);
createGround(world);
/** Prepare textures */
sf::Texture GroundTexture;
sf::Texture BoxTexture;
GroundTexture.loadFromFile("ground.png");
BoxTexture.loadFromFile("box.png");
createBox(world, 300, 0);
createBox(world, 300, 20);
while (window.isOpen()) {
sf::Event event;
while (window.pollEvent(event)) {
if (event.type == sf::Event::Closed)
window.close();
}
// window.clear(sf::Color::Black);
sprintf(buff, "FPS: %3.2f", framesPerSecond(clock));
fps.setString(sf::String(buff));
// //for (int i=0; i<MAX_SPRITES; i++) {
// // sf::Sprite s = sprites[i];
// // s.setScale(rand() % 2 + 1, 2);
// // s.setRotation((rand() % 720) - 360);
// // window.draw(s);
// //}
// window.draw(text);
// window.display();
//}
if (sf::Mouse::isButtonPressed(sf::Mouse::Left)) {
int MouseX = sf::Mouse::getPosition(window).x;
int MouseY = sf::Mouse::getPosition(window).y;
createBox(world, MouseX, MouseY);
}
world.Step(1.0f/60.f, 8, 3);
window.clear(sf::Color::White);
int BodyCount = 0;
for (b2Body* BodyIterator = world.GetBodyList(); BodyIterator != 0; BodyIterator = BodyIterator->GetNext()) {
if (BodyIterator->GetType() == b2_dynamicBody) {
sf::Sprite Sprite;
Sprite.setTexture(BoxTexture);
Sprite.setOrigin(0.5f * SCALE, 0.5f * SCALE);
Sprite.setPosition(SCALE * BodyIterator->GetPosition().x, SCALE * BodyIterator->GetPosition().y);
Sprite.setRotation(BodyIterator->GetAngle() * 180/b2_pi);
window.draw(Sprite);
++BodyCount;
} else {
sf::Sprite GroundSprite;
GroundSprite.setTexture(GroundTexture);
GroundSprite.setColor(sf::Color::Red);
GroundSprite.setOrigin(40.0f * SCALE, 1.0f * SCALE);
GroundSprite.setPosition(SCALE * BodyIterator->GetPosition().x, SCALE * BodyIterator->GetPosition().y);
GroundSprite.setRotation(180/b2_pi * BodyIterator->GetAngle());
window.draw(GroundSprite);
}
}
window.draw(fps);
window.display();
}
return 0;
}
