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// Geometric Tools, LLC
// Copyright (c) 1998-2014
// Distributed under the Boost Software License, Version 1.0.
// http://www.boost.org/LICENSE_1_0.txt
// http://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
//
// File Version: 5.0.0 (2010/01/01)
#ifndef BOUNCINGSPHERES_H
#define BOUNCINGSPHERES_H
#include "Wm5WindowApplication3.h"
#include "RigidBall.h"
using namespace Wm5;
class BouncingSpheres : public WindowApplication3
{
WM5_DECLARE_INITIALIZE;
WM5_DECLARE_TERMINATE;
public:
BouncingSpheres ();
virtual bool OnInitialize ();
virtual void OnTerminate ();
virtual void OnIdle ();
virtual bool OnKeyDown (unsigned char key, int x, int y);
protected:
class Contact
{
public:
RigidBodyf* A; // ball containing face
RigidBodyf* B; // ball containing vertex
Vector3f P; // contact point
Vector3f N; // outward unit-length normal to face
};
void CreateScene ();
void CreateBalls ();
void CreateFloor ();
void CreateBackWall ();
void CreateSideWall1 ();
void CreateSideWall2 ();
void PhysicsTick ();
void GraphicsTick ();
void DoCollisionDetection ();
void DoCollisionResponse ();
void ComputePreimpulseVelocity (float* preRelVelocities);
void ComputeImpulseMagnitude (float* preRelVelocities,
float* impulseMagnitudes);
void SetBoundaryContact (int i, int bIndex, const Vector3f& position,
float radius, Contact& contact);
// External forces and torques for this application.
static Vector3f Force (float time, float mass, const Vector3f& position,
const Quaternionf& quatOrient, const Vector3f& linearMomentum,
const Vector3f& angularMomentum, const Matrix3f& rotOrient,
const Vector3f& linearVelocity, const Vector3f& angularVelocity);
static Vector3f Torque (float time, float mass, const Vector3f& position,
const Quaternionf& quatOrient, const Vector3f& linearMomentum,
const Vector3f& angularMomentum, const Matrix3f& rotOrient,
const Vector3f& linearVelocity, const Vector3f& angularVelocity);
// Rigid spheres are the rigid bodies.
enum { NUM_BALLS = 16 };
RigidBall* mBalls[NUM_BALLS];
// Representation of boundaries (floor, ceiling, walls).
RigidBodyf mBoundaries[6];
Vector3f mBoundaryLocations[6];
Vector3f mBoundaryNormals[6];
// Contact points during one pass of the physical simulation.
int mNumContacts;
std::vector<Contact> mBoundaryContacts;
// Blocked directions.
std::vector<Vector3f> mBlocked[NUM_BALLS];
// Simulated clock.
float mSimTime, mSimDeltaTime;
// The scene graph.
NodePtr mScene;
WireStatePtr mWireState;
NodePtr mBallNodes[NUM_BALLS];
TriMeshPtr mFloor, mBackWall, mSideWall1, mSideWall2;
PolysegmentPtr mSegment;
Culler mCuller;
Float4 mTextColor;
};
WM5_REGISTER_INITIALIZE(BouncingSpheres);
WM5_REGISTER_TERMINATE(BouncingSpheres);
#endif
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