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