130 lines
3.9 KiB
C++
130 lines
3.9 KiB
C++
/*
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* Copyright (c) 2016-2019 Irlan Robson https://irlanrobson.github.io
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#include <bounce/bounce.h>
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#include <stdio.h>
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// We don't care for a profiler. This definition does nothing.
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void b3BeginProfileScope(const char* name)
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{
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}
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// We don't care for a profiler. This definition does nothing.
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void b3EndProfileScope()
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{
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}
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// This example shows how to setup and run a simple simulation
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// using Bounce.
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int main(int argc, char** argv)
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{
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// The world. We allocate it using the heap but you can to it
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// on the stack if the stack is sufficiently large.
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b3World* world = new b3World();
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// The world gravity.
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const b3Vec3 gravity(0.0f, -9.8f, 0.0f);
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world->SetGravity(gravity);
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// The fixed time step size.
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const float32 timeStep = 1.0f / 60.0f;
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// Number of iterations for the velocity constraint solver.
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const u32 velocityIterations = 8;
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// Number of iterations for the position constraint solver.
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const u32 positionIterations = 2;
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// Create a static ground body at the world origin.
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b3BodyDef groundDef;
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b3Body* ground = world->CreateBody(groundDef);
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// Create a box positioned at the world origin and
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// aligned with the world frame.
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b3BoxHull groundBox;
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// Set the ground box dimensions using a linear scale transform.
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b3Transform scale;
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scale.position.SetZero();
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scale.rotation = b3Diagonal(10.0f, 1.0f, 10.0f);
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groundBox.SetTransform(scale);
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// Create the box physics wrapper.
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b3HullShape groundShape;
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groundShape.m_hull = &groundBox;
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// Add the box to the ground body.
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b3ShapeDef groundBoxDef;
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groundBoxDef.shape = &groundShape;
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ground->CreateShape(groundBoxDef);
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// Create a dynamic body.
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b3BodyDef bodyDef;
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bodyDef.type = e_dynamicBody;
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// Position the body 10 meters high from the world origin.
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bodyDef.position.Set(0.0f, 10.0f, 0.0f);
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// Set the initial angular velocity to pi radians (180 degrees) per second.
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bodyDef.angularVelocity.Set(0.0f, B3_PI, 0.0f);
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b3Body* body = world->CreateBody(bodyDef);
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// Create a unit box positioned at the world origin and
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// aligned with the world frame.
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b3BoxHull bodyBox;
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bodyBox.SetIdentity();
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// Create the box physics wrapper.
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b3HullShape bodyShape;
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bodyShape.m_hull = &bodyBox;
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// Add the box to the body.
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b3ShapeDef bodyBoxDef;
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bodyBoxDef.shape = &bodyShape;
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bodyBoxDef.density = 1.0f;
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body->CreateShape(bodyBoxDef);
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// Run a small game loop of 60 frames length.
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for (u32 i = 0; i < 60; ++i)
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{
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// Perform a time step of the world in this frame.
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world->Step(timeStep, velocityIterations, positionIterations);
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// Read the body position and orientation in this frame.
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b3Vec3 position = body->GetPosition();
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b3Quat orientation = body->GetOrientation();
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// Decode the axis and angle of rotation about it from the quaternion.
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b3Vec3 axis;
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float32 angle;
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orientation.GetAxisAngle(&axis, &angle);
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// Visualize the body state in this frame.
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printf("position = %.2f %.2f %.2f\n", position.x, position.y, position.z);
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printf("axis = %.2f %.2f %.2f, angle = %.2f\n\n", axis.x, axis.y, axis.z, angle);
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}
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// Now destroy the bodies since the world manages their lifetime.
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delete world;
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return 0;
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} |