Method initBodiesPositions

testbed/scenes/joints/JointsScene.cpp:95–163

Initialize the bodies positions

// Initialize the bodies positions
void JointsScene::initBodiesPositions() {

    openglframework::Vector3 positionBox(0, 15, 5);
    openglframework::Vector3 boxDimension(1, 1, 1);

    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {

        // Initial position and orientation of the rigid body
        rp3d::Vector3 initPosition(positionBox.x, positionBox.y, positionBox.z);
        rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
        rp3d::Transform transform(initPosition, initOrientation);

        // Create a box and a corresponding rigid in the physics world
        mBallAndSocketJointChainBoxes[i]->setTransform(transform);

        positionBox.y -= boxDimension.y + 0.5f;
    }

    // --------------- Slider Joint --------------- //

    // Position of the box
    openglframework::Vector3 positionBox1(0, 2.1f, 0);
    rp3d::Vector3 initPosition(positionBox1.x, positionBox1.y, positionBox1.z);
    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
    rp3d::Transform transformBottomBox(initPosition, initOrientation);

    // Create a box and a corresponding rigid in the physics world
    mSliderJointBottomBox->setTransform(transformBottomBox);

    // Position of the box
    openglframework::Vector3 positionBox2(0, 4.2f, 0);
    initPosition = rp3d::Vector3(positionBox2.x, positionBox2.y, positionBox2.z);
    initOrientation = rp3d::Quaternion::identity();
    rp3d::Transform transformTopBox(initPosition, initOrientation);

    // Create a box and a corresponding rigid in the physics world
    mSliderJointTopBox->setTransform(transformTopBox);

    // --------------- Propeller Hinge joint --------------- //

    // Position of the box
    positionBox1 = openglframework::Vector3(0, 7, 0);
    initPosition = rp3d::Vector3(positionBox1.x, positionBox1.y, positionBox1.z);
    initOrientation = rp3d::Quaternion::identity();
    rp3d::Transform transformHingeBox(initPosition, initOrientation);

    // Create a box and a corresponding rigid in the physics world
    mPropellerBox->setTransform(transformHingeBox);

    // --------------- Fixed joint --------------- //

    // Position of the box
    positionBox1 = openglframework::Vector3(5, 7, 0);
    initPosition = rp3d::Vector3(positionBox1.x, positionBox1.y, positionBox1.z);
    initOrientation = rp3d::Quaternion::identity();
    rp3d::Transform transformFixedBox1(initPosition, initOrientation);

    // Create a box and a corresponding rigid in the physics world