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

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This commit is contained in:
Jasper 2014-11-17 12:57:16 +01:00
parent 3ddcb72d5a
commit cac4672c7c
5 changed files with 72 additions and 25 deletions
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25
level.cc
View File

@ -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() {

4
level.hh
View File

@ -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;
};

17
main.cc
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@ -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,
(float)xpos-app.getGraphics()->getWindowSize().x/2));
app.getLevel()->update(now - lastUpdate,
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();

40
physics.cc
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@ -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);

5
physics.hh
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@ -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!
@ -31,7 +32,7 @@
class Physics {
public:
Physics();
Physics();
~Physics();
void init();
void takeUpdateStep(float timeDiff);
@ -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.