Implimented a basic version of Physics into level with a ball colliding with a static plain.

level.cc

@@ -1,5 +1,7 @@
 #include "level.hh"
 
+
+
 Level::Level(std::string filePath){
     this->filePath = filePath;
     this->terrain = Terrain(filePath + "/terrain");
@@ -12,6 +14,10 @@ Level::~Level() {
 }
 
 void Level::load(ACGL::OpenGL::SharedShaderProgram shader) {
+
+    this->physics = Physics();
+    this->physics.init();
+    
     // currently hard coded should later read this stuff out of a file
     this->camera = Camera(glm::vec2(-0.8f, 0.0f), 3.0f);
     // load the geometry of the stanford bunny and build a VAO:
@@ -19,16 +25,21 @@ void Level::load(ACGL::OpenGL::SharedShaderProgram shader) {
     // load a texture:
     Material material = Material("stoneTexture.png", 0.1f, 0.5f, 0.5f, 3.0f);
     //Create object
-    Object object = Object(model, material, glm::vec3(0.0f, 1.0f, -2.0f),
+    Object object = Object(model, material, glm::vec3(0.0f, 5.0f, 0.0f),
         glm::vec3(0.0f, 1.0472f, 0.0f), glm::vec3(0.0f, 0.0f, 0.0f),
         glm::vec3(0.0f, 0.0f, 0.0f), shader);
+    //add player to phy    
+    this->physics.addPlayer(0.75f,0.0f,5.0f,0.0f,1.0f,0);
+    
+    physics.addStaticGroundPlane();
+    
 
 
     //set lighting parameters
     ambientLight = glm::vec3(1.0f, 1.0f, 1.0f);
-    Light light = Light(glm::vec3(-3.0f, 0.0f, 0.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(1.0f, 1.0f, 1.0f), 2.0f);
+    Light light = Light(glm::vec3(-10.0f, 20.0f, 0.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(1.0f, 1.0f, 1.0f), 2.0f);
     lights.push_back(light);
-    Light light2 = Light(glm::vec3(3.0f, 0.0f, 0.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(1.0f, 1.0f, 1.0f), 2.0f);
+    Light light2 = Light(glm::vec3(10.0f, 20.0f, 0.0f), glm::vec3(0.0f, 0.0f, 0.0f), glm::vec3(1.0f, 1.0f, 1.0f), 2.0f);
     lights.push_back(light2);
 
 
@@ -53,7 +64,7 @@ void Level::render() {
     }
 }
 
-void Level::update(float runTime, glm::vec2 mouseDelta) {
+void Level::update(float runTime, glm::vec2 mouseDelta, bool wPressed, bool aPressed, bool dPressed, bool sPressed) {
     // rotate bunny
     //cameraCenter->setRotation(glm::vec3(0.0f, 1.0472f * runTime, 0.0f));
     // Ignore first two mouse updates, because they are incorrect
@@ -64,6 +75,12 @@ void Level::update(float runTime, glm::vec2 mouseDelta) {
     else {
         camera.updateRotation(mouseDelta/100.0f);
     }    
+    
+    physics.takeUpdateStep(runTime);
+    
+    objects[0].setPosition(physics.getPos(0));
+    
+    
 }
 
 glm::vec3 Level::getAmbientLight() {

level.hh

@@ -8,6 +8,7 @@
 #include "terrain.hh"
 #include "material.hh"
 #include "camera.hh"
+#include "physics.hh"
 
 class Level {
     public:
@@ -15,7 +16,7 @@ class Level {
         Level();
         ~Level();
         void load(ACGL::OpenGL::SharedShaderProgram shader); // Shader is necessary for correct texture assigning
-        void update(float runTime, glm::vec2 mouseDelta);
+        void update(float runTime, glm::vec2 mouseDelta,bool wPressed, bool aPressed, bool dPressed, bool sPressed);
         void render();
         glm::vec3 getAmbientLight();
         std::vector<Light> getLights();
@@ -27,6 +28,7 @@ class Level {
         std::vector<Light> lights;
         glm::vec3 ambientLight;
         Object* cameraCenter;
+        Physics physics;
         Camera camera;
         Terrain terrain;
 };

main.cc

@@ -120,8 +120,16 @@ int main( int argc, char *argv[] )
     double startTimeInSeconds = glfwGetTime();
     double showNextFPS = startTimeInSeconds + FPSdelay;
     
+    double lastUpdate=0.0f;
+      
+    int stateW = glfwGetKey(app.getGraphics()->getWindow(), GLFW_KEY_W);
+    int stateA = glfwGetKey(app.getGraphics()->getWindow(), GLFW_KEY_A);
+    int stateS = glfwGetKey(app.getGraphics()->getWindow(), GLFW_KEY_S);
+    int stateD = glfwGetKey(app.getGraphics()->getWindow(), GLFW_KEY_D);
+
     do {
-        double now = glfwGetTime();
+
+        double now = glfwGetTime()- startTimeInSeconds;
         
         if (showNextFPS <= now) {
             std::stringstream sstream (std::stringstream::in | std::stringstream::out);
@@ -136,8 +144,11 @@ int main( int argc, char *argv[] )
         glfwGetCursorPos(app.getGraphics()->getWindow(), &xpos, &ypos);
         glfwSetCursorPos(app.getGraphics()->getWindow(), app.getGraphics()->getWindowSize().x/2, app.getGraphics()->getWindowSize().y/2);
 
-        app.getLevel()->update(now - startTimeInSeconds, glm::vec2((float)ypos-app.getGraphics()->getWindowSize().y/2,
+        app.getLevel()->update(now - lastUpdate,
-                    (float)xpos-app.getGraphics()->getWindowSize().x/2));
+                glm::vec2((float)ypos-app.getGraphics()->getWindowSize().y/2,
+                        (float)xpos-app.getGraphics()->getWindowSize().x/2),
+                    stateW == GLFW_PRESS,stateA == GLFW_PRESS,stateS == GLFW_PRESS,stateD == GLFW_PRESS);
+        lastUpdate = now;
         app.getGraphics()->render(app.getLevel(), app.getShader());
         
         openGLCriticalError();

physics.cc

@@ -1,7 +1,5 @@
 #include "physics.hh"
 
-#include <vector>
-
 
 btDynamicsWorld* world; //contains physical attributes of the world.
 btDispatcher* dispatcher; //
@@ -12,8 +10,17 @@ btConstraintSolver* solver; //solver for forces and impulses.
 std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
 btRigidBody* playerBall;
 btRigidBody* terrainBody;
+btRigidBody* staticGroundBody;
 
-void init()
+
+Physics::Physics() {
+    //init();
+}
+
+Physics::~Physics() {
+}
+
+void Physics::init()
 {
 	colConfig = new btDefaultCollisionConfiguration();
 	dispatcher = new btCollisionDispatcher(colConfig);
@@ -22,16 +29,14 @@ void init()
 	world = new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,colConfig);
 	
 	world->setGravity(btVector3(0,-10,-0));	
-
-	
 }
 
-void takeUpdateStep(float timeDiff)
+void Physics::takeUpdateStep(float timeDiff)
 {
 	world->stepSimulation(timeDiff);
 }
 
-void addTerrain(int width, int length, float** heightData)
+void Physics::addTerrain(int width, int length, float** heightData)
 {
 	float* heightfield = new float[width * length];
 	      int highest = -999999, j = 0, i = 0;
@@ -70,7 +75,17 @@ void addTerrain(int width, int length, float** heightData)
 
 }
 
-void addPlayer(float rad, float x, float y, float z, float mass, unsigned indice)
+void Physics::addStaticGroundPlane()
+{
+	btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0, 1, 0), 0);
+	btDefaultMotionState* groundMotionState = new btDefaultMotionState(btTransform(btQuaternion(0, 0, 0, 1), btVector3(0, 0, 0)));
+	btRigidBody::btRigidBodyConstructionInfo groundRigidBodyCI(0, groundMotionState, groundShape, btVector3(0, 0, 0));
+        staticGroundBody = new btRigidBody(groundRigidBodyCI);
+
+        world->addRigidBody(staticGroundBody);
+}
+
+void Physics::addPlayer(float rad, float x, float y, float z, float mass, unsigned indice)
 {
 	if(bodies.size() != indice)
 		throw std::invalid_argument( "Bodies out of Sync" ); 
@@ -98,7 +113,7 @@ void addPlayer(float rad, float x, float y, float z, float mass, unsigned indice
 }
 
 
-void addSphere(float rad, float x, float y, float z, float mass, unsigned indice)
+void Physics::addSphere(float rad, float x, float y, float z, float mass, unsigned indice)
 {
 	if(bodies.size() != indice)
 		throw std::invalid_argument( "Bodies out of Sync" ); 
@@ -126,26 +141,25 @@ void addSphere(float rad, float x, float y, float z, float mass, unsigned indice
 
 }
 
-glm::vec3 getPos(int i)
+glm::vec3 Physics::getPos(int i)
 {
 	btVector3 origin = bodies[i]->getCenterOfMassPosition();
 	glm::vec3 save(origin.getX(),origin.getY(),origin.getZ());
 	return save;
 }
 
-glm::mat4 getRotation(int i)
+glm::mat4 Physics::getRotation(int i)
 {
 	btQuaternion quat = bodies[i]->getOrientation();
 
 	glm::mat4 matrix = glm::rotate(
-	    matrix,
 	    quat.getAngle(),
 	    glm::vec3(quat.getAxis().getX(), quat.getAxis().getY(), quat.getAxis().getZ())
 	);
 	return matrix;
 }
 
-void rollForward(glm::mat3 rotCamera)
+void Physics::rollForward(glm::mat3 rotCamera)
 {
 	glm::vec3 saveVector= glm::vec3(1,0,0) * rotCamera;
 	saveVector = glm::cross(glm::vec3(0,1,0),saveVector);

physics.hh

@@ -11,6 +11,7 @@
 
 #include "extern/bullet/src/BulletCollision/CollisionShapes/btSphereShape.h"
 #include "extern/bullet/src/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
+#include "extern/bullet/src/BulletCollision/CollisionShapes/btStaticPlaneShape.h"
 
 #include "extern/bullet/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h"
 #include "extern/bullet/src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h"//YAY!
@@ -39,6 +40,7 @@ class Physics {
 	glm::vec3 getPos(int i);
 	glm::mat4 getRotation(int i);
 	void rollForward(glm::mat3 rotCamera);
+	void addStaticGroundPlane();
 	void addTerrain(int width, int length, float** heightData);
 	void addPlayer(float rad, float x, float y, float z, float mass, unsigned indice);
 	void addSphere(float rad, float x, float y, float z, float mass, unsigned indice);
@@ -47,6 +49,7 @@ class Physics {
 	btRigidBody* playerBody;
 	btRigidBody* terrainBody;
 	std::vector<btRigidBody*> bodies; //list of all bodies. bodies are also in world, but save again to ease cleaning up process.
+        btRigidBody* staticGroundBody;
 
 
 	btDynamicsWorld* world; //contains physical attributes of the world.