Method Dumbbell

testbed/common/Dumbbell.cpp:37–92

Constructor

// Constructor
Dumbbell::Dumbbell(reactphysics3d::BodyType type, bool isSimulationCollider, rp3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshFolderPath)
         : PhysicsObject(physicsCommon, meshFolderPath + "dumbbell.obj"), mPhysicsWorld(physicsWorld) {

    // Identity scaling matrix
    mScalingMatrix.setToIdentity();

    mDistanceBetweenSphere = 8.0f;

    // Create a sphere collision shape for the two ends of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
    mSphereShape = mPhysicsCommon.createSphereShape(radiusSphere);

    // Create a capsule collision shape for the middle of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusCapsule = rp3d::decimal(0.5);
    const rp3d::decimal heightCapsule = rp3d::decimal(7.0);
    mCapsuleShape = mPhysicsCommon.createCapsuleShape(radiusCapsule, heightCapsule);

    mPreviousTransform = rp3d::Transform::identity();

    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());

    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -mDistanceBetweenSphere / 2.0f, 0), rp3d::Quaternion::identity());

    // Initial transform of the cylinder collision shape of the dumbell (in local-space)
    rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());

    // Create a body corresponding to the dumbbell in the physics world
    rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform);
    body->setType(type);
    body->setIsDebugEnabled(true);
    mColliderSphere1 = body->addCollider(mSphereShape, transformSphereShape1);
    mColliderSphere1->setIsSimulationCollider(isSimulationCollider);
    mColliderSphere2 = body->addCollider(mSphereShape, transformSphereShape2);
    mColliderSphere2->setIsSimulationCollider(isSimulationCollider);
    mColliderCapsule = body->addCollider(mCapsuleShape, transformCylinderShape);
    mColliderCapsule->setIsSimulationCollider(isSimulationCollider);
    mColliderSphere1->getMaterial().setMassDensity(2);
    mColliderSphere2->getMaterial().setMassDensity(2);
    body->updateMassPropertiesFromColliders();
    mBody = body;

    mTransformMatrix = mTransformMatrix * mScalingMatrix;

    // Create the VBOs and VAO
    if (totalNbDumbbells == 0) {
        createVBOAndVAO();
    }

    totalNbDumbbells++;
}

// Destructor