int main( void )
{
// init random seed equal to current time
std::srand(std::time(0));
const unsigned MAX_NR_RECTANGLES = 100;
// windows size
int windowWidth = 600;
int windowHeight = 600;
// Initialise GLFW
if(!glfwInit()) {
std::cerr << "Failed to initialize GLFW" << std::endl;
return -1;
}
glfwWindowHint(GLFW_SAMPLES, 4);
glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
glfwWindowHint(GLFW_CONTEXT_VERSION_MINOR, 3);
glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
// Open a window and create its OpenGL context
// window = glfwCreateWindow( 1024, 768, "Tutorial 03 - Matrices", NULL, NULL);
window = glfwCreateWindow(windowWidth, windowHeight, "Mondrian", NULL, NULL);
if(window == NULL) {
std::cerr << "Failed to open GLFW window.";
std::cerr << " If you have an Intel GPU, they are not 3.3 compatible.";
std::cerr << " Try the 2.1 version of the tutorials." << std::endl;
glfwTerminate();
return -1;
}
glfwMakeContextCurrent(window);
// Initialize GLEW
glewExperimental = true; // Needed for core profile
if (glewInit() != GLEW_OK) {
std::cerr << "Failed to initialize GLEW" << std::endl;
return -1;
}
// enable z-buffer
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
// Ensure we can capture the escape key being pressed below
glfwSetInputMode(window, GLFW_STICKY_KEYS, GL_TRUE);
glfwSetMouseButtonCallback(window, mouseButtonCallback);
// white background
glm::vec4 whiteColor (1.0f, 1.0f, 1.0f, 0.0f);
glClearColor(whiteColor.r, whiteColor.g, whiteColor.b, whiteColor.a);
// nr rectangles * 2 triangles each * 3 vertices * 4 floats
float cpuBufferDataPoints[MAX_NR_RECTANGLES * 2 * 3 * 4];
float cpuBufferColors[MAX_NR_RECTANGLES * 2 * 3 * 4];
// nr rectangles * 2 triangles each * 3 vertices * 4x4 floats
float cpuBufferMVProw1[MAX_NR_RECTANGLES * 2 * 3 * 4];
float cpuBufferMVProw2[MAX_NR_RECTANGLES * 2 * 3 * 4];
float cpuBufferMVProw3[MAX_NR_RECTANGLES * 2 * 3 * 4];
float cpuBufferMVProw4[MAX_NR_RECTANGLES * 2 * 3 * 4];
float *cpuBufferLines;
// Create and compile our GLSL program from the shaders
GLuint rectangleProgram = LoadShaders( "rectangleVertexShader.glsl", "rectangleFragmentShader.glsl" );
GLuint lineProgram = LoadShaders( "lineVertexShader.glsl", "lineFragmentShader.glsl" );
// Use our shader (it's not required to be using a program to bind VAOs)
glUseProgram(rectangleProgram);
// VAOs
GLuint rectangleVAO;
GLuint lineVAO;
glGenVertexArrays(1, &rectangleVAO);
glGenVertexArrays(1, &lineVAO);
glBindVertexArray(rectangleVAO);
// left, right, bottom, top, angle1, angle2
// glm::mat4 Projection = glm::ortho(-10.0f, 10.0f, -10.0f, 10.0f,0.0001f,10.0f); // In world coordinates
glm::mat4 Projection = glm::ortho(-10.0f, 10.0f, -10.0f, 10.0f); // In world coordinates
for (unsigned row = 0; row < 4; row++) {
for (unsigned col = 0; col < 4; col++) {
std::cout << std::setw(10) << Projection[col][row] << " ";
}
std::cout << std::endl;
}
glm::vec4 testvertex;
for (int i = -10; i <= 10; i++) {
testvertex = glm::vec4(1.0);
testvertex.z = i;
testvertex = Projection * testvertex;
std::cout << "z = " << std::setw(3) << i << " " << testvertex.z << std::endl;
}
std::cout << std::endl;
// glm::mat4 Projection = glm::ortho(-20.0f, 20.0f, -20.0f, 20.0f,1.0f,100.0f); // In world coordinates
/*
glm::mat4 Projection = glm::perspective(
45.0f, // The horizontal Field of View, in degrees : the amount of "zoom". Think "camera lens". Usually between 90° (extra wide) and 30° (quite zoomed in)
4.0f / 4.0f, // Aspect Ratio. Depends on the size of your window. Notice that 4/3 == 800/600 == 1280/960, sounds familiar ?
0.1f, // Near clipping plane. Keep as big as possible, or you'll get precision issues.
100.0f // Far clipping plane. Keep as little as possible.
);
*/
// Camera matrix
/*
* view es una matriz cuadrada almacenada por columnas (no por filas)
* al poner la camara mirando al origen en una posicion z=2 (positivo),
* lo que hace, es generar una matriz de transformación que moverá el objeto
* en el eje z dos unidades de "w" */
glm::mat4 View = glm::lookAt(
glm::vec3(0,0,2), // Camera is at (4,3,3), in World Space
glm::vec3(0,0,0), // and looks at the origin
glm::vec3(0,1,0) // Head is up (set to 0,-1,0 to look upside-down)
);
// glm::mat4 View = glm::mat4(1.0f);
/*
for (unsigned row = 0; row < 4; row++) {
for (unsigned col = 0; col < 4; col++) {
std::cout << std::setw(3) << View[col][row] << " ";
}
std::cout << std::endl;
}
*/
GLuint rectangleVertexBuffer;
glGenBuffers(1, &rectangleVertexBuffer);
glBindBuffer(GL_ARRAY_BUFFER, rectangleVertexBuffer);
glEnableVertexAttribArray(0);
glVertexAttribPointer(
0, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
GLuint rectangleColorBuffer;
glGenBuffers(1, &rectangleColorBuffer);
glBindBuffer(GL_ARRAY_BUFFER, rectangleColorBuffer);
glEnableVertexAttribArray(1);
glVertexAttribPointer(
1, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// GLuint rectangleMVPBuffer;
GLuint rectangleMVProw1Buffer;
GLuint rectangleMVProw2Buffer;
GLuint rectangleMVProw3Buffer;
GLuint rectangleMVProw4Buffer;
glGenBuffers(1, &rectangleMVProw1Buffer);
glGenBuffers(1, &rectangleMVProw2Buffer);
glGenBuffers(1, &rectangleMVProw3Buffer);
glGenBuffers(1, &rectangleMVProw4Buffer);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw1Buffer);
glEnableVertexAttribArray(2);
glVertexAttribPointer(
2, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)(0) // array buffer offset
);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw2Buffer);
glEnableVertexAttribArray(3);
glVertexAttribPointer(
3, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)(0) // array buffer offset
);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw3Buffer);
glEnableVertexAttribArray(4);
glVertexAttribPointer(
4, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)(0) // array buffer offset
);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw4Buffer);
glEnableVertexAttribArray(5);
glVertexAttribPointer(
5, // attribute. No particular reason for 0, but must match the layout in the shader.
4, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)(0) // array buffer offset
);
glBindVertexArray(lineVAO);
GLuint lineVertexBuffer;
glGenBuffers(1, &lineVertexBuffer);
glBindBuffer(GL_ARRAY_BUFFER, lineVertexBuffer);
glEnableVertexAttribArray(0);
glVertexAttribPointer(
0, // attribute. No particular reason for 0, but must match the layout in the shader.
2, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// get a handle for MVP uniform matrix in line program (it's not required
// to be using the line program right now
// GLuint lineMVPID = glGetUniformLocation(lineProgram, "MVP");
glBindVertexArray(rectangleVAO);
std::set<float> verticalLines;
std::set<float> horizontalLines;
unsigned nrLines = 0;
unsigned simulationTime = 0;
bool justEnded = true;
double lineThickness = 0.1;
do {
// update window's title to show fps
updateFPSCounter(window);
// Clear the screen
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// update viewport
glfwGetWindowSize(window, &windowWidth, &windowHeight);
glViewport(0, 0, windowWidth, windowHeight); // (x,y) offset from lower left; (width, height)
// std::cout << "nr rectangles: " << rectangles.size() << std::endl;
// every 75 steps, create a new rectangle
if (simulationTime % 500 == 0 && !endSimulation && rectangles.size() < MAX_NR_RECTANGLES) {
// create rectangle
Rectangle rectangle;
// insert rectangle into array
rectangles.push_back(rectangle);
}
// update cpu buffers
// fill up new cpu position buffers
float rectangleCoords[2 * 3 * 4];
unsigned coordCounter = 0;
for (unsigned i = 0; i < rectangles.size(); i++) {
rectangles[i].getCoords(rectangleCoords);
for (unsigned j = 0; j < 2*3*4; j++) {
cpuBufferDataPoints[coordCounter] = rectangleCoords[j];
coordCounter++;
}
// std::cout << "rectangle ID: " << rectangles[i].getID() << std::endl;
// std::cout << "horizontal: [" << rectangles[i].getLeft() << " : " << rectangles[i].getRight() << "]" << std::endl;
// std::cout << "vertical: [" << rectangles[i].getBottom() << " : " << rectangles[i].getTop() << "]" << std::endl;
}
// fill up new cpu colors buffers
float rectangleColorComponents[2 * 3 * 4];
coordCounter = 0;
for (unsigned i = 0; i < rectangles.size(); i++) {
rectangles[i].getColorComponents(rectangleColorComponents);
for (unsigned j = 0; j < 2*3*4; j++) {
cpuBufferColors[coordCounter] = rectangleColorComponents[j];
coordCounter++;
}
}
// fill up new cpu mvp buffers
unsigned counter = 0;
for (unsigned i = 0; i < rectangles.size(); i++) {
glm::mat4 Model = rectangles[i].getModel();
// glm::mat4 MVP = Projection * View * Model;
glm::mat4 MVP = Projection * Model * View;
// TODO: try to transfer glm::mat MVP to buffer directly with glBufferData
// glm::vec4 vertexa = Model * rectangles[i].getVertexA();
// glm::vec4 vertexb = Model * rectangles[i].getVertexB();
// glm::vec4 vertexc = Model * rectangles[i].getVertexC();
// glm::vec4 vertexd = Model * rectangles[i].getVertexD();
// std::cout << "final positions: " << std::endl;
// std::cout << vertexa.x << " " << vertexa.y << " " << vertexa.z << std::endl;
// std::cout << vertexb.x << " " << vertexb.y << " " << vertexb.z << std::endl;
// std::cout << vertexc.x << " " << vertexc.y << " " << vertexc.z << std::endl;
// std::cout << vertexd.x << " " << vertexd.y << " " << vertexd.z << std::endl;
for (unsigned vertex = 0; vertex < 6; vertex++) {
for (unsigned element = 0; element < 4; element++) {
// cpuBufferMVProw1[counter] = static_cast<int>(MVP[0][element]);
// cpuBufferMVProw2[counter] = static_cast<int>(MVP[1][element]);
// cpuBufferMVProw3[counter] = static_cast<int>(MVP[2][element]);
// cpuBufferMVProw4[counter] = static_cast<int>(MVP[3][element]);
// TODO swap these lines
cpuBufferMVProw1[counter] = MVP[0][element];
cpuBufferMVProw2[counter] = MVP[1][element];
cpuBufferMVProw3[counter] = MVP[2][element];
cpuBufferMVProw4[counter] = MVP[3][element];
// for these ones
// cpuBufferMVProw1[counter] = MVP[element][0];
// cpuBufferMVProw2[counter] = MVP[element][1];
// cpuBufferMVProw3[counter] = MVP[element][2];
// cpuBufferMVProw4[counter] = MVP[element][3];
// std::cout << "double: " << std::endl;
// std::cout << MVP[0][element] << " ";
// std::cout << MVP[1][element] << " ";
// std::cout << MVP[2][element] << " ";
// std::cout << MVP[3][element] << std::endl;
// std::cout << "int: " << std::endl;
// std::cout << cpuBufferMVProw1[counter] << " ";
// std::cout << cpuBufferMVProw2[counter] << " ";
// std::cout << cpuBufferMVProw3[counter] << " ";
// std::cout << cpuBufferMVProw4[counter] << std::endl;
counter++;
}
}
}
glUseProgram(rectangleProgram);
glBindVertexArray(rectangleVAO);
// transfer data to position and color buffers
glBindBuffer(GL_ARRAY_BUFFER, rectangleVertexBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferDataPoints, GL_STREAM_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, rectangleColorBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferColors, GL_STREAM_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw1Buffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferMVProw1, GL_STREAM_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw2Buffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferMVProw2, GL_STREAM_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw3Buffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferMVProw3, GL_STREAM_DRAW);
glBindBuffer(GL_ARRAY_BUFFER, rectangleMVProw4Buffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * rectangles.size() * 2 * 3 * 4, cpuBufferMVProw4, GL_STREAM_DRAW);
// draw rectangles
glDrawArrays(GL_TRIANGLES, 0, rectangles.size()*2*3); // 3 indices starting at 0 -> 1 triangle
for (unsigned i = 0; i < rectangles.size(); i++) {
// std::cout << "updating rectangle id: " << i << std::endl;
rectangles[i].updateModel();
rectangles[i].shouldBeAlive();
}
for (std::vector<Rectangle>::iterator it = rectangles.begin(); it != rectangles.end();) {
if (it->isAlive()) {
it++;
} else {
it = rectangles.erase(it);
}
}
if (endSimulation && !justEnded) {
glUseProgram(lineProgram);
glBindVertexArray(lineVAO);
// std::cout << "drawing lines..." << std::endl;
glDrawArrays(GL_TRIANGLES, 0, nrLines * 2 * 3); // 3 indices starting at 0 -> 1 triangle
}
if (endSimulation && justEnded) {
std::cout << "creating lines..." << std::endl;
justEnded = false;
// load data in cpuBufferLines just the very first time
// get vertical and horizontal coords of every line that should be drawn
for (unsigned i = 0; i < rectangles.size(); i++) {
if (rectangles[i].getIsPinned()) {
// values in {-10:10}
int left = static_cast<int>(round(rectangles[i].getLeft()));
int right = static_cast<int>(round(rectangles[i].getRight()));
int bottom = static_cast<int>(round(rectangles[i].getBottom()));
int top = static_cast<int>(round(rectangles[i].getTop()));
std::cout << "left: " << left << " right: " << right << " top: " << top << " bottom: " << bottom << std::endl;
verticalLines.insert(left);
verticalLines.insert(right);
horizontalLines.insert(bottom);
horizontalLines.insert(top);
}
}
unsigned nrVerticalLines = verticalLines.size();
unsigned nrHorizontalLines = horizontalLines.size();
nrLines = nrVerticalLines + nrHorizontalLines;
std::cout << "nr lines to draw: " << nrLines << std::endl;
// 1 line = 2 triangles; 1 triangle = 3 points each; 1 point = 2 coord each;
cpuBufferLines = new float[nrLines * 2 * 3 * 2];
unsigned counter = 0;
glm::mat4 PV = Projection * View;
for (std::set<float>::iterator it = verticalLines.begin(); it != verticalLines.end(); it++) {
glm::vec4 vertexA (*it - lineThickness, 10, 0, 1);
glm::vec4 vertexB (*it + lineThickness, 10, 0, 1);
glm::vec4 vertexC (*it - lineThickness, -10, 0, 1);
glm::vec4 vertexD (*it + lineThickness, -10, 0, 1);
vertexA = PV * vertexA;
vertexB = PV * vertexB;
vertexC = PV * vertexC;
vertexD = PV * vertexD;
// glm::vec4 firstPointMVP = Projection * View * firstPoint;
// glm::vec4 secondPointMVP = Projection * View * secondPoint;
// sent the points in {-10:10} domain
// first triangle ABC
cpuBufferLines[counter] = vertexA.x; // x
counter++;
cpuBufferLines[counter] = vertexA.y; // y
counter++;
cpuBufferLines[counter] = vertexB.x; // x
counter++;
cpuBufferLines[counter] = vertexB.y; // y
counter++;
cpuBufferLines[counter] = vertexC.x; // x
counter++;
cpuBufferLines[counter] = vertexC.y; // y
counter++;
// second triangle BCD
cpuBufferLines[counter] = vertexB.x; // x
counter++;
cpuBufferLines[counter] = vertexB.y; // y
counter++;
cpuBufferLines[counter] = vertexC.x; // x
counter++;
cpuBufferLines[counter] = vertexC.y; // y
counter++;
cpuBufferLines[counter] = vertexD.x; // x
counter++;
cpuBufferLines[counter] = vertexD.y; // y
counter++;
// std::cout << "vertical line: " << std::endl;
// std::cout << "(" << firstPointMVP.x << "," << firstPointMVP.y << ")" << std::endl;
// std::cout << "(" << secondPointMVP.x << "," << secondPointMVP.y << ")" << std::endl;
}
for (std::set<float>::iterator it = horizontalLines.begin(); it != horizontalLines.end(); it++) {
glm::vec4 vertexA (-10, *it + lineThickness, 0, 1);
glm::vec4 vertexB (10, *it + lineThickness, 0, 1);
glm::vec4 vertexC (-10, *it - lineThickness, 0, 1);
glm::vec4 vertexD (10, *it - lineThickness, 0, 1);
vertexA = PV * vertexA;
vertexB = PV * vertexB;
vertexC = PV * vertexC;
vertexD = PV * vertexD;
// glm::vec4 firstPointMVP = Projection * View * firstPoint;
// glm::vec4 secondPointMVP = Projection * View * secondPoint;
// first triangle ABC
cpuBufferLines[counter] = vertexA.x; // x
counter++;
cpuBufferLines[counter] = vertexA.y; // y
counter++;
cpuBufferLines[counter] = vertexB.x; // x
counter++;
cpuBufferLines[counter] = vertexB.y; // y
counter++;
cpuBufferLines[counter] = vertexC.x; // x
counter++;
cpuBufferLines[counter] = vertexC.y; // y
counter++;
// second triangle BCD
cpuBufferLines[counter] = vertexB.x; // x
counter++;
cpuBufferLines[counter] = vertexB.y; // y
counter++;
cpuBufferLines[counter] = vertexC.x; // x
counter++;
cpuBufferLines[counter] = vertexC.y; // y
counter++;
cpuBufferLines[counter] = vertexD.x; // x
counter++;
cpuBufferLines[counter] = vertexD.y; // y
counter++;
// std::cout << "horizontal line: " << std::endl;
// std::cout << "(" << firstPointMVP.x << "," << firstPointMVP.y << ")" << std::endl;
// std::cout << "(" << secondPointMVP.x << "," << secondPointMVP.y << ")" << std::endl;
}
glBindBuffer(GL_ARRAY_BUFFER, lineVertexBuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(float) * nrLines * 2 * 3 * 2, cpuBufferLines, GL_STATIC_DRAW);
// send MVP matrix to line program
// TODO: check if i need to be using line program and to have bound line VAO
// glUniformMatrix4fv(lineMVPID, 1, GL_FALSE, &PV[0][0]);
}
// Swap buffers
glfwSwapBuffers(window);
glfwPollEvents();
// usleep(500000);
// usleep(100000);
simulationTime++;
// int dummy;
// std::cin >> dummy;
} while ( glfwGetKey(window, GLFW_KEY_ESCAPE ) != GLFW_PRESS && glfwWindowShouldClose(window) == 0 );
glBindVertexArray(rectangleVAO);
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glBindVertexArray(lineVAO);
glDisableVertexAttribArray(0);
// Cleanup VBO and shader
glDeleteBuffers(1, &rectangleVertexBuffer);
glDeleteBuffers(1, &rectangleColorBuffer);
glDeleteBuffers(1, &rectangleMVProw1Buffer);
glDeleteBuffers(1, &rectangleMVProw2Buffer);
glDeleteBuffers(1, &rectangleMVProw3Buffer);
glDeleteBuffers(1, &rectangleMVProw4Buffer);
glDeleteBuffers(1, &lineVertexBuffer);
glDeleteProgram(rectangleProgram);
glDeleteProgram(lineProgram);
glDeleteVertexArrays(1, &rectangleVAO);
glDeleteVertexArrays(1, &lineVAO);
// Close OpenGL window and terminate GLFW
glfwTerminate();
delete [] cpuBufferLines; // make sure new was executed, i.e: right click event
return 0;
}
void PrevailingWindDemo::createPalmTree ( hkpWorld* world, const hkpWind* wind, const hkVector4& pos )
{
const hkReal trunkHeight = 4.0f;
const hkReal trunkBottomRadius = 0.5f;
const hkReal trunkTopRadius = 0.2f;
const hkReal trunkStiffness = 0.1f;
const hkReal segmentMass = 0.6f;
const int numberOfSegments = 4;
const hkReal segmentGap = 0.2f;
const int numberOfFronds = 6;
const hkReal frondWidth = 2.0f;
const hkReal frondLength = 3.0f;
const hkReal frondMass = 0.4f;
// The trunk
hkArray<hkpRigidBody*> trunk;
const hkReal segmentHeight = (trunkHeight - ((numberOfSegments - 1) * segmentGap)) / numberOfSegments;
const hkReal radiusIncrement = (trunkBottomRadius - trunkTopRadius) / numberOfSegments;
for ( int i = 0; i < numberOfSegments; i++ )
{
hkpShape* segmentShape;
hkpRigidBodyCinfo info;
{
hkVector4 bottom( 0.0f, (segmentHeight + segmentGap) * i, 0.0f );
hkVector4 top( 0.0f, (segmentHeight + segmentGap) * i + segmentHeight, 0.0f );
hkReal radius = trunkBottomRadius - (radiusIncrement * i);
segmentShape = new hkpCylinderShape( bottom, top, radius, 0.03f );
info.m_shape = segmentShape;
info.m_position = pos;
if (i == 0)
{
info.m_motionType = hkpMotion::MOTION_FIXED;
}
else
{
hkpMassProperties massProperties;
{
hkpInertiaTensorComputer::computeCylinderVolumeMassProperties( bottom, top, radius, segmentMass, massProperties );
}
info.m_motionType = hkpMotion::MOTION_DYNAMIC;
info.m_mass = massProperties.m_mass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_centerOfMass = massProperties.m_centerOfMass;
}
}
hkpRigidBody* segment = new hkpRigidBody( info );
segmentShape->removeReference();
trunk.pushBack( segment );
world->addEntity( segment );
segment->removeReference();
if (i > 0)
{
hkpWindAction* action = new hkpWindAction( segment, wind, 0.1f );
world->addAction(action);
action->removeReference();
}
}
for ( int i = 1; i < numberOfSegments; i++ )
{
// We model the connection between the segments with a ragdoll constraint.
hkpRagdollConstraintData* rdc;
{
hkReal planeMin = HK_REAL_PI * -0.025f;
hkReal planeMax = HK_REAL_PI * 0.025f;
hkReal twistMin = HK_REAL_PI * -0.025f;
hkReal twistMax = HK_REAL_PI * 0.025f;
hkReal coneMin = HK_REAL_PI * -0.05f;
hkReal coneMax = HK_REAL_PI * 0.05f;
rdc = new hkpRagdollConstraintData();
rdc->setPlaneMinAngularLimit( planeMin );
rdc->setPlaneMaxAngularLimit( planeMax );
rdc->setTwistMinAngularLimit( twistMin );
rdc->setTwistMaxAngularLimit( twistMax );
hkVector4 twistAxis( 0.0f, 1.0f, 0.0f );
hkVector4 planeAxis( 0.0f, 0.0f, 1.0f );
hkVector4 pivot( 0.0f, (segmentHeight + segmentGap) * i, 0.0f );
rdc->setInBodySpace( pivot, pivot, planeAxis, planeAxis, twistAxis, twistAxis );
rdc->setAsymmetricConeAngle( coneMin, coneMax );
//world->createAndAddConstraintInstance( trunk[i - 1], trunk[i], rdc )->removeReference();
hkpConstraintInstance* constraint = new hkpConstraintInstance( trunk[i - 1], trunk[i], rdc );
world->addConstraint(constraint);
hkpPositionConstraintMotor* motor = new hkpPositionConstraintMotor( 0 );
motor->m_tau = trunkStiffness;
motor->m_maxForce = 1000.0f;
motor->m_constantRecoveryVelocity = 0.1f;
rdc->setTwistMotor( motor );
rdc->setConeMotor( motor );
rdc->setPlaneMotor( motor );
rdc->setMotorsActive(constraint, true);
motor->removeReference();
constraint->removeReference();
rdc->removeReference();
}
}
// The angle that the leaves make with the ground in their half lifted position.
hkQuaternion tilt;
{
hkVector4 axis( 0.0f, 0.0f, 1.0f );
tilt.setAxisAngle( axis, HK_REAL_PI * 0.1f );
}
hkQuaternion tiltRot;
// The fronds
for ( int i = 0; i < numberOfFronds; i++ )
{
hkQuaternion rotation;
{
hkVector4 axis( 0.0f, 1.0f, 0.0f );
rotation.setAxisAngle( axis, HK_REAL_PI * 2.0f * ( i / (hkReal) numberOfFronds ) );
rotation.normalize();
}
hkpShape* frondShape;
hkpRigidBodyCinfo info;
{
hkVector4 vertexA( 0.0f, 0.0f, 0.0f );
hkVector4 vertexB( frondLength, 0.0f, frondWidth / 2.0f );
hkVector4 vertexC( frondLength, 0.0f, - frondWidth / 2.0f );
frondShape = new hkpTriangleShape( vertexA, vertexB, vertexC, 0.01f );
info.m_shape = frondShape;
hkVector4 relPos;
relPos.setRotatedDir( rotation, hkVector4( trunkTopRadius + 0.3f, trunkHeight, 0.0f ) );
info.m_position.setAdd4( pos, relPos );
hkpMassProperties massProperties;
{
hkReal mass = frondMass;
hkpInertiaTensorComputer::computeTriangleSurfaceMassProperties( vertexA, vertexB, vertexC, mass, 0.01f, massProperties );
}
info.m_motionType = hkpMotion::MOTION_DYNAMIC;
info.m_mass = massProperties.m_mass;
info.m_inertiaTensor = massProperties.m_inertiaTensor;
info.m_centerOfMass = massProperties.m_centerOfMass;
tiltRot.setMul( rotation, tilt );
info.m_rotation = tiltRot;
}
hkpRigidBody* frond = new hkpRigidBody( info );
frondShape->removeReference();
world->addEntity( frond );
hkpWindAction* action = new hkpWindAction( frond, wind, 0.1f );
world->addAction(action);
action->removeReference();
// We model the connection between the fronds and the trunk with a ragdoll constraint.
hkpRagdollConstraintData* rdc;
{
hkReal planeMin = HK_REAL_PI * -0.005f;
hkReal planeMax = HK_REAL_PI * 0.005f;
hkReal twistMin = HK_REAL_PI * -0.05f;
hkReal twistMax = HK_REAL_PI * 0.05f;
hkReal coneMin = HK_REAL_PI * -0.2f;
hkReal coneMax = HK_REAL_PI * 0.2f;
rdc = new hkpRagdollConstraintData();
rdc->setPlaneMinAngularLimit( planeMin );
rdc->setPlaneMaxAngularLimit( planeMax );
rdc->setTwistMinAngularLimit( twistMin );
rdc->setTwistMaxAngularLimit( twistMax );
hkVector4 twistAxisFrond( 1.0f, 0.0f, 0.0f );
hkVector4 twistAxisTrunk;
twistAxisTrunk.setRotatedDir( tiltRot, twistAxisFrond );
hkVector4 planeAxisFrond( 0.0f, 0.0f, 1.0f );
hkVector4 planeAxisTrunk;
planeAxisTrunk.setRotatedDir( tiltRot, planeAxisFrond );
hkVector4 pivotFrond( 0.0f, 0.0f, 0.0f );
hkVector4 pivotTrunk;
pivotTrunk.setRotatedDir( rotation, hkVector4( trunkTopRadius + 0.3f, trunkHeight, 0.0f ) );
rdc->setInBodySpace( pivotTrunk, pivotFrond, planeAxisTrunk, planeAxisFrond, twistAxisTrunk, twistAxisFrond );
rdc->setAsymmetricConeAngle( coneMin, coneMax );
world->createAndAddConstraintInstance( trunk[ numberOfSegments - 1 ], frond, rdc )->removeReference();
rdc->removeReference();
frond->removeReference();
}
}
}
