diff options
Diffstat (limited to '3d/rigidbody/main.cpp')
| -rw-r--r-- | 3d/rigidbody/main.cpp | 108 |
1 files changed, 83 insertions, 25 deletions
diff --git a/3d/rigidbody/main.cpp b/3d/rigidbody/main.cpp index f95e634..deac83e 100644 --- a/3d/rigidbody/main.cpp +++ b/3d/rigidbody/main.cpp @@ -38,8 +38,10 @@ struct Rigidbody3d { void reset() { numImpulses = 0; - velocity = { 0, 0, 0}; - rotationalVelocity = { 0, 0, 0 }; + velocity = Vector3(); + rotationalVelocity = Vector3(); + position = Vector3(); + rotation = Quaternion(); } void applyImpulse(Impulse i) { @@ -103,13 +105,13 @@ struct Rigidbody3d { }; // -- Sphere definition -float32 bounds = 20.f; +float32 bounds = 50.f; struct Sphere { Mesh3d mesh; Rigidbody3d previousBody; Rigidbody3d body; - float32 radius = 5.f; + float32 radius = 1.f; void load(Renderer3d* renderer) { const float32 angleIncrements = 2.f; @@ -119,6 +121,8 @@ struct Sphere { Vertex3d* vertices = new Vertex3d[numVertices]; GLuint* indices = new GLuint[numIndices]; + radius = body.mass; // Set the radius to be proportional to the mass + // Generate vertices and indices GLint index = 0; int32 vidx = 0; @@ -169,11 +173,7 @@ struct Sphere { mesh.load(vertices, numVertices, indices, numIndices, renderer); - body.position = Vector3 { 0.f, 0.f, 0.f }; - body.velocity = Vector3 { 0.f, 0.f, 0.f }; - - float32 singleFaceArea = radius; - body.momentOfInertia = (body.mass * singleFaceArea) / 6.f; + body.momentOfInertia = (2.f / 5.f) * (body.mass * (radius * radius)); delete [] vertices; delete [] indices; @@ -183,31 +183,34 @@ struct Sphere { previousBody = body; body.update(dtSeconds); + Vector3 upper = body.position + Vector3(radius, radius, radius); + Vector3 lower = body.position - Vector3(radius, radius, radius); + // -- Constrain inside of the box - if (body.position.x > bounds) { - body.position.x = bounds; + if (upper.x > bounds) { + body.position.x = bounds - radius; body.velocity.x = -body.velocity.x; } - else if (body.position.x < -bounds) { - body.position.x = -bounds; + else if (lower.x < -bounds) { + body.position.x = -bounds + radius; body.velocity.x = -body.velocity.x; } - if (body.position.y > bounds) { - body.position.y = bounds; + if (upper.y > bounds) { + body.position.y = bounds - radius; body.velocity.y = -body.velocity.y; } - else if (body.position.y < -bounds) { - body.position.y = -bounds; + else if (lower.y < -bounds) { + body.position.y = -bounds + radius; body.velocity.y = -body.velocity.y; } - if (body.position.z > bounds) { - body.position.z = bounds; + if (upper.z > bounds) { + body.position.z = bounds - radius; body.velocity.z = -body.velocity.z; } - else if (body.position.z < -bounds) { - body.position.z = -bounds; + else if (lower.z < -bounds) { + body.position.z = -bounds + radius; body.velocity.z = -body.velocity.z; } @@ -220,10 +223,52 @@ struct Sphere { } void unload() { + body.reset(); mesh.unload(); } }; +struct Cube { + Mesh3d mesh; + + void load(Renderer3d* renderer) { + Vertex3d vertices[8]; + GLuint indices[] = { + 2, 6, 7, 2, 7, 3, + 6, 4, 5, 6, 5, 7, + 4, 0, 1, 4, 1, 5, + 0, 4, 6, 0, 6, 2, + 1, 5, 7, 1, 7, 3, + }; + + vertices[0].position = Vector3(-1.f, 1.f, 1.f); + vertices[1].position = Vector3(-1.f, -1.f, 1.f); + vertices[2].position = Vector3(1.f, 1.f, 1.f); + vertices[3].position = Vector3(1.f, -1.f, 1.f); + vertices[4].position = Vector3(-1.f, 1.f, -1.f); + vertices[5].position = Vector3(-1.f, -1.f, -1.f); + vertices[6].position = Vector3(1.f, 1.f, -1.f); + vertices[7].position = Vector3(1.f, -1.f, -1.f); + + for (int idx = 0; idx < 8; idx++) { + vertices[idx].normal = Vector3(0, 1, 0); + vertices[idx].color = Vector4(randomFloatBetween(0, 1), randomFloatBetween(0, 1), randomFloatBetween(0, 1), 0.9f).normalize(); + } + + mesh.load(vertices, 8, indices, 30, renderer); + float32 scale = bounds; + mesh.model = Mat4x4().scale(Vector3(scale, scale, scale));//.translate(Vector3(0, 0, scale / 2.f)); + } + + void render(Renderer3d* renderer) { + mesh.render(renderer); + } + + void unload() { + mesh.unload(); + } +}; + // -- Intersection info struct IntersectionResult { bool intersect = false; @@ -250,8 +295,9 @@ Camera3d camera; MainLoop mainLoop; bool isIntersectingPointer = false; -const int32 numSpheres = 2; +const int32 numSpheres = 3; Sphere sphereList[numSpheres]; +Cube environmentCube; int main() { context.init("#gl_canvas"); @@ -264,20 +310,28 @@ int main() { void load() { renderer.load(&context); - sphereList[0].load(&renderer); sphereList[0].body.mass = 10.f; sphereList[0].body.position = Vector3(10.f, 0, -5); sphereList[0].body.velocity = Vector3(-10.f, 10.f, 10.f); sphereList[0].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f); + sphereList[0].load(&renderer); - sphereList[1].load(&renderer); sphereList[1].body.mass = 6.f; sphereList[1].body.position = Vector3(-10.f, 0, 5); sphereList[1].body.velocity = Vector3(10.f, -10.f, -10.f); sphereList[1].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f); + sphereList[1].load(&renderer); + + sphereList[2].body.mass = 3.f; + sphereList[2].body.position = Vector3(-10.f, -10, 5); + sphereList[2].body.velocity = Vector3(10.f, 0.f, -10.f); + sphereList[2].body.rotationalVelocity = Vector3(1.f, 1.f, 1.f); + sphereList[2].load(&renderer); + + environmentCube.load(&renderer); camera.projection = Mat4x4().getPerspectiveProjection(0.1f, 10000.f, DEG_TO_RAD(45.f), 800.f / 600.f); - camera.view = Mat4x4().translate({ 0, 0, -60.f }); + camera.view = Mat4x4().translate({ 0, 0, -175.f }); mainLoop.run(update); } @@ -372,6 +426,8 @@ void update(float32 deltaTimeSeconds, void* userData) { for (int32 idx = 0; idx < numSpheres; idx++) { sphereList[idx].render(&renderer); } + + environmentCube.render(&renderer); } void unload() { @@ -380,6 +436,8 @@ void unload() { for (int32 idx = 0; idx < numSpheres; idx++) { sphereList[idx].unload(); } + + environmentCube.unload(); } // |