[21] | 1 | /* |
---|
| 2 | SimpleScenes_Chain.h |
---|
| 3 | ---------------------- |
---|
| 4 | A reimplementation of the ODE spherical chain demo |
---|
| 5 | using Ogre and the OgreOde wrapper. |
---|
| 6 | */ |
---|
| 7 | #ifndef _SIMPLESCENESCHAIN_H_ |
---|
| 8 | #define _SIMPLESCENES_CHAIN_H_ |
---|
| 9 | |
---|
| 10 | /* |
---|
| 11 | The chain test extends the base test class |
---|
| 12 | */ |
---|
| 13 | class SimpleScenes_Chain:public SimpleScenes |
---|
| 14 | { |
---|
| 15 | public: |
---|
| 16 | // Standard constructor, creates everything in the demo |
---|
| 17 | SimpleScenes_Chain(OgreOde::World *world) : |
---|
| 18 | SimpleScenes(world) |
---|
| 19 | { |
---|
| 20 | // Set up the sizes of stuff |
---|
| 21 | Real link_size = 0.4,geom_size = 0.4,adjust = 0.1; |
---|
| 22 | OgreOde::Body* last_body = 0; |
---|
| 23 | int num_links = 10; |
---|
| 24 | |
---|
| 25 | _first_body = 0; |
---|
| 26 | _force = 100; |
---|
| 27 | |
---|
| 28 | // Create all the links in the chain |
---|
| 29 | for (int i = num_links - 1;i >= 0;i--) |
---|
| 30 | { |
---|
| 31 | Real np = (Real)i * (link_size + adjust); |
---|
| 32 | String name = String("Sphere_") + StringConverter::toString(i); |
---|
| 33 | |
---|
| 34 | // Visuals |
---|
| 35 | Entity* entity = _mgr->createEntity(name,"ball.mesh"); |
---|
| 36 | entity->setNormaliseNormals(true); |
---|
| 37 | entity->setCastShadows(true); |
---|
| 38 | |
---|
| 39 | SceneNode* node = _mgr->getRootSceneNode()->createChildSceneNode(entity->getName()); |
---|
| 40 | node->attachObject(entity); |
---|
| 41 | node->setScale(link_size * 0.2,link_size * 0.2,link_size * 0.2); |
---|
| 42 | node->setPosition(Vector3(np,np + 0.4,np)); |
---|
| 43 | |
---|
| 44 | // Physicals |
---|
| 45 | OgreOde::EntityInformer ei(entity,Matrix4::getScale(node->getScale())); |
---|
| 46 | OgreOde::Body* body = ei.createSingleDynamicSphere(1.0,_world, _space); |
---|
| 47 | _bodies.push_back(body); |
---|
| 48 | _geoms.push_back(body->getGeometry(0)); |
---|
| 49 | |
---|
| 50 | // Join the current body to the last one (if there was a last one) |
---|
| 51 | if (!_first_body) |
---|
| 52 | { |
---|
| 53 | _last_node = node; |
---|
| 54 | _first_body = body; |
---|
| 55 | } |
---|
| 56 | |
---|
| 57 | if (last_body) |
---|
| 58 | { |
---|
| 59 | OgreOde::BallJoint* joint = new OgreOde::BallJoint(_world); |
---|
| 60 | joint->attach(body,last_body); |
---|
| 61 | Real ja = ((Real)i + 0.5) * (link_size + adjust); |
---|
| 62 | joint->setAnchor(Vector3(ja,ja + 0.4,ja)); |
---|
| 63 | |
---|
| 64 | _joints.push_back(joint); |
---|
| 65 | } |
---|
| 66 | |
---|
| 67 | last_body = body; |
---|
| 68 | } |
---|
| 69 | |
---|
| 70 | // Create some static boxes to bump into |
---|
| 71 | createBox(0,2,Vector3(4,1,4)); |
---|
| 72 | createBox(1,2,Vector3(-4,1,4)); |
---|
| 73 | createBox(2,2,Vector3(-4,1,-4)); |
---|
| 74 | createBox(3,2,Vector3(4,1,-4)); |
---|
| 75 | } |
---|
| 76 | |
---|
| 77 | // Let the user throw the chain around |
---|
| 78 | #if (OGRE_VERSION_MINOR < 4) |
---|
| 79 | // Handle the user's key presses |
---|
| 80 | virtual void frameEnded(Real time,InputReader* input) |
---|
| 81 | { |
---|
| 82 | // Do default key handling |
---|
| 83 | SimpleScenes::frameEnded(time,input); |
---|
| 84 | #else |
---|
| 85 | |
---|
| 86 | virtual void frameEnded(Real time, OIS::Keyboard* input, OIS::Mouse* mouse) |
---|
| 87 | { |
---|
| 88 | // Do default processing |
---|
| 89 | SimpleScenes::frameEnded(time, input, mouse); |
---|
| 90 | #endif |
---|
| 91 | _force_to_apply = Ogre::Vector3::ZERO; |
---|
| 92 | |
---|
| 93 | Vector3 right = _mgr->getCamera("PlayerCam")->getRight(); |
---|
| 94 | Vector3 forward = right.crossProduct(Vector3::UNIT_Y); |
---|
| 95 | |
---|
| 96 | // Up |
---|
| 97 | if (input->isKeyDown(KC_X)) _force_to_apply += Ogre::Vector3::UNIT_Y * _force; |
---|
| 98 | |
---|
| 99 | // Left/right |
---|
| 100 | if (input->isKeyDown(KC_J)) _force_to_apply -= right * _force; |
---|
| 101 | if (input->isKeyDown(KC_L)) _force_to_apply += right * _force; |
---|
| 102 | |
---|
| 103 | // Forward/back |
---|
| 104 | if (input->isKeyDown(KC_K)) _force_to_apply += forward * _force; |
---|
| 105 | if (input->isKeyDown(KC_I)) _force_to_apply -= forward * _force; |
---|
| 106 | |
---|
| 107 | _mgr->getCamera("PlayerCam"); |
---|
| 108 | } |
---|
| 109 | |
---|
| 110 | // Apply the forces before every time step |
---|
| 111 | void addForcesAndTorques() |
---|
| 112 | { |
---|
| 113 | // Apply the force we calculated in the key handler |
---|
| 114 | _first_body->addForce(_force_to_apply); |
---|
| 115 | } |
---|
| 116 | |
---|
| 117 | // Return our name for the test application to display |
---|
| 118 | virtual const String& getName() |
---|
| 119 | { |
---|
| 120 | static String name = "Test Chain"; |
---|
| 121 | return name; |
---|
| 122 | } |
---|
| 123 | |
---|
| 124 | // Tell the user what keys they can use |
---|
| 125 | virtual const String& getKeys() |
---|
| 126 | { |
---|
| 127 | static String keys = "J/L, I/K, X - Throw the chain around"; |
---|
| 128 | return keys; |
---|
| 129 | } |
---|
| 130 | |
---|
| 131 | // Override the collision callback to set our own parameters |
---|
| 132 | bool collision(OgreOde::Contact* contact) |
---|
| 133 | { |
---|
| 134 | // Set the floor to be a bit slippy |
---|
| 135 | contact->setCoulombFriction(10.0); |
---|
| 136 | return true; |
---|
| 137 | } |
---|
| 138 | |
---|
| 139 | // Use the destructor to delete the crate scene nodes |
---|
| 140 | // everything else gets deleted automatically |
---|
| 141 | ~SimpleScenes_Chain() |
---|
| 142 | { |
---|
| 143 | for (int i = 0;i < 4;i++) |
---|
| 144 | { |
---|
| 145 | if (i != 2) |
---|
| 146 | { |
---|
| 147 | String name = String("Crate_") + StringConverter::toString(i); |
---|
| 148 | _mgr->destroySceneNode(name); |
---|
| 149 | _mgr->destroyEntity(name); |
---|
| 150 | } |
---|
| 151 | } |
---|
| 152 | } |
---|
| 153 | |
---|
| 154 | protected: |
---|
| 155 | // Utility method to create a static box |
---|
| 156 | void createBox(int id,Real size,const Ogre::Vector3& position) |
---|
| 157 | { |
---|
| 158 | // Visual |
---|
| 159 | String name = String("Crate_") + StringConverter::toString(id); |
---|
| 160 | |
---|
| 161 | Entity* entity = _mgr->createEntity(name,"crate.mesh"); |
---|
| 162 | entity->setNormaliseNormals(true); |
---|
| 163 | entity->setCastShadows(true); |
---|
| 164 | |
---|
| 165 | SceneNode* node = _mgr->getRootSceneNode()->createChildSceneNode(entity->getName()); |
---|
| 166 | node->attachObject(entity); |
---|
| 167 | node->setScale(size * 0.1,size * 0.1,size * 0.1); |
---|
| 168 | node->setPosition(position); |
---|
| 169 | |
---|
| 170 | // Make one of them dynamic, the others are static |
---|
| 171 | OgreOde::EntityInformer ei(entity,Matrix4::getScale(node->getScale())); |
---|
| 172 | if ((position.x < 0)&&(position.z < 0)) |
---|
| 173 | { |
---|
| 174 | _box_body = ei.createSingleDynamicBox(2.0, _world, _space); |
---|
| 175 | _bodies.push_back(_box_body); |
---|
| 176 | _geoms.push_back(_box_body->getGeometry(0)); |
---|
| 177 | } |
---|
| 178 | else |
---|
| 179 | { |
---|
| 180 | // Collision geometry |
---|
| 181 | _geoms.push_back(ei.createSingleStaticBox(_world, _space)); |
---|
| 182 | } |
---|
| 183 | } |
---|
| 184 | |
---|
| 185 | protected: |
---|
| 186 | // Keep track of the top of the chain so we can throw it around |
---|
| 187 | OgreOde::Body *_first_body,*_box_body; |
---|
| 188 | Real _force; |
---|
| 189 | Vector3 _force_to_apply; |
---|
| 190 | }; |
---|
| 191 | |
---|
| 192 | #endif |
---|