glwidget.cpp

   1 /***************************************************************************
   2  *   Copyright (C) 2008 by Scott West   *
   3  *   westsg2@mcmaster.ca   *
   4  *                                                                         *
   5  *   This program is free software; you can redistribute it and/or modify  *
   6  *   it under the terms of the GNU General Public License as published by  *
   7  *   the Free Software Foundation; either version 2 of the License, or     *
   8  *   (at your option) any later version.                                   *
   9  *                                                                         *
  10  *   This program is distributed in the hope that it will be useful,       *
  11  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
  12  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
  13  *   GNU General Public License for more details.                          *
  14  *                                                                         *
  15  *   You should have received a copy of the GNU General Public License     *
  16  *   along with this program; if not, write to the                         *
  17  *   Free Software Foundation, Inc.,                                       *
  18  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
  19  ***************************************************************************/
  20 #include "glwidget.h"
  21
  22 #include <btBulletDynamicsCommon.h>
  23
  24 #include <iostream>
  25
  26 #define MOVE_STEP 0.05
  27
  28 GLWidget::GLWidget(QWidget* parent) : QGLWidget(parent)
  29 {
  30   setFocus ();
  31   grabKeyboard ();
  32   resize (800,600);
  33
  34   btVector3 worldMin (-100,-100,-100);
  35   btVector3 worldMax ( 100, 100, 100);
  36   int maxProxies = 1024;
  37
  38   btAxisSweep3* broadphase =
  39     new btAxisSweep3 (worldMin, worldMax, maxProxies);
  40
  41   btDefaultCollisionConfiguration* collisionConf =
  42     new btDefaultCollisionConfiguration();
  43
  44   btCollisionDispatcher* dispatcher =
  45     new btCollisionDispatcher(collisionConf);
  46
  47   btSequentialImpulseConstraintSolver* solver =
  48     new btSequentialImpulseConstraintSolver;
  49
  50   btWorld =
  51     new btDiscreteDynamicsWorld(dispatcher,broadphase,solver,collisionConf);
  52
  53   btWorld->setGravity(btVector3(0,-0.5,0));
  54
  55   objects.push_back ( new Box ( Vector (0,20,0),
  56                                 Vector (1,1,3)
  57                                 ) );
  58   objects.push_back (new  Box ( Vector (-3,20,0),
  59                                 Vector (1,2,2)
  60                                 ) );
  61   objects.push_back (new  Box ( Vector (2,20,0),
  62                                 Vector (1,1,2)
  63                                 ) );
  64
  65   btWorld->addRigidBody (objects[0]->getBody () );
  66   btWorld->addRigidBody (objects[1]->getBody () );
  67   btWorld->addRigidBody (objects[2]->getBody () );
  68
  69   btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),1);
  70   btDefaultMotionState* groundMotionState =
  71     new btDefaultMotionState(btTransform(btQuaternion (0,0,0,1),
  72                                          btVector3 (0,-1,0)));
  73   btRigidBody::btRigidBodyConstructionInfo
  74     groundRigidBodyCI (0,groundMotionState,groundShape,btVector3 (0,0,0));
  75   btRigidBody* groundRigidBody = new btRigidBody(groundRigidBodyCI);
  76   btWorld->addRigidBody(groundRigidBody);
  77
  78   offsetx = 0.0;
  79   offsety = 0.0;
  80   offsetz = 0.0;
  81
  82 }
  83
  84 GLWidget::~GLWidget()
  85 {
  86 }
  87
  88 void GLWidget::keyPressEvent (QKeyEvent *event)
  89 {
  90   btRigidBody* b = objects[0]->getBody ();
  91
  92   switch (event->key ())
  93     {
  94     case Qt::Key_Left:
  95       offsetx += MOVE_STEP;
  96       break;
  97     case Qt::Key_Right:
  98       offsetx -= MOVE_STEP;
  99       break;
 100     case Qt::Key_Up:
 101       offsety -= MOVE_STEP;
 102       break;
 103     case Qt::Key_Down:
 104       offsety += MOVE_STEP;
 105       break;
 106     case Qt::Key_W:
 107       offsetz -= MOVE_STEP;
 108       break;
 109     case Qt::Key_S:
 110       offsetz += MOVE_STEP;
 111       break;
 112     case Qt::Key_Space:
 113       b->activate ();
 114       b->applyForce (btVector3 (0.0, 0.0, 10.0),
 115                      btVector3 (-3.0, 0.0, 0.0));
 116       break;
 117     default:
 118       break;
 119     }
 120
 121   updateGL();
 122 }
 123
 124 void GLWidget::updateGL ()
 125 {
 126   btWorld->stepSimulation (1/60.0);
 127   QGLWidget::updateGL ();
 128 }
 129
 130 void GLWidget::paintGL ()
 131 {
 132   glClear (GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 133   glLoadIdentity ();
 134
 135   GLfloat pos_light[] = {-1.0, 2.0, 10.0, 0.0};
 136   GLfloat dif_light[] = {1.0f, 1.0f, 1.0f, 1.0f};
 137   glLightfv (GL_LIGHT1, GL_DIFFUSE, dif_light);
 138   glLightfv (GL_LIGHT1, GL_POSITION, pos_light);
 139
 140   gluLookAt (offsetx, 10, 20.0,
 141              0.0, 0.0, 0.0,
 142              0.0, 1.0, 0.0);
 143
 144   for( std::vector<Box*>::iterator it = objects.begin() ;
 145        it != objects.end ();
 146        ++it)
 147     {
 148       (*it)->render ();
 149     }
 150
 151
 152
 153 }
 154
 155 void GLWidget::resizeGL (int w, int h)
 156 {
 157   glMatrixMode (GL_PROJECTION);
 158   glLoadIdentity ();
 159   glViewport (0, 0, w, h);
 160   gluPerspective (45.0, (GLfloat)w/(GLfloat)h, 1.0, 500.0);
 161
 162   glMatrixMode (GL_MODELVIEW);
 163 }
 164
 165 void GLWidget::initializeGL ()
 166 {
 167   glClearColor (0.0f, 0.0f, 0.0f, 1.0f);
 168
 169   glEnable (GL_DEPTH_TEST);
 170   glDepthMask (GL_TRUE);
 171
 172   glDepthFunc (GL_LEQUAL);
 173   glHint (GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);
 174
 175   glEnable (GL_LIGHTING);
 176   glEnable (GL_LIGHT1);
 177   glShadeModel (GL_SMOOTH);
 178 }