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local gl = honey.gl
local window = honey.window
local Shader = require 'shader'
local Mesh = require 'mesh'
--====== initialize opengl ======--
gl.Init()
window.setHint(window.hintType.contextVersionMajor, 3)
window.setHint(window.hintType.contextVersionMinor, 3)
window.setHint(window.hintType.openGlProfile, window.profileType.openGlCoreProfile)
--====== create window ======--
local w = window.create(640, 480, 'bouncing ball demo')
window.makeContextCurrent(w)
gl.InitGlad()
gl.Enable(gl.DEPTH_TEST)
local projection = honey.glm.mat4()
honey.glm.perspective(math.rad(45), 800/600, 0.1, 1000, projection)
window.setFramebufferSizeCallback(w, function(_, width, height)
print(string.format("resize: (%d, %d)", width, height))
gl.Viewport(0, 0, width, height)
honey.glm.perspective(math.rad(45), width/height, 0.1, 1000, projection)
end)
--===== load mesh and shader =====--
local shader = Shader.Load('vertex.vs', 'fragment.fs')
local ball = Mesh.Load('ball.dae')
--===== set up ode =====--
local ode = honey.ode
ode.InitODE()
local world = ode.WorldCreate()
local space = ode.HashSpaceCreate()
ode.WorldSetGravity(world, 0, -10, 0)
ode.WorldSetCFM(world, 1e-5)
ode.CreatePlane(space, 0, 1, 0, 0)
local contactgroup = ode.JointGroupCreate()
local body = ode.BodyCreate(world)
local geom = ode.CreateSphere(space, 0.5)
local mass = ode.MassCreate()
ode.MassSetSphere(mass, 1, 0.5)
ode.BodySetMass(body, mass)
ode.GeomSetBody(geom, body)
ode.BodySetPosition(body, 0, 3, 0)
function physicsStep()
ode.SpaceCollide(space, function(o1, o2)
local b1 = ode.GeomGetBody(o1)
local b2 = ode.GeomGetBody(o2)
local contact = ode.ContactCreate()
ode.ContactSurfaceSetMode(contact, ode.ContactBounce + ode.ContactSoftCFM)
ode.ContactSurfaceSetMu(contact, ode.Infinity)
ode.ContactSurfaceSetBounce(contact, 0.9)
ode.ContactSurfaceSetBounceVel(contact, 0.1)
ode.ContactSurfaceSetSoftCFM(contact, 0.001)
local collisionCount = ode.Collide(o1, o2, contact)
if collisionCount > 0 then
local joint = ode.JointCreateContact(world, contactgroup, contact)
ode.JointAttach(joint, b1, b2)
end
end)
ode.WorldQuickStep(world, 0.01)
ode.JointGroupEmpty(contactgroup)
end
--====== matrices ======--
function setVector(vector, x, y, z)
honey.glm.vec3_set(vector, 0, x)
honey.glm.vec3_set(vector, 1, y)
honey.glm.vec3_set(vector, 2, z)
end
local view = honey.glm.mat4()
honey.glm.mat4_identity(view)
local translation = honey.glm.vec3()
setVector(translation, 0, -1, -6)
honey.glm.translate(view, translation)
--====== main loop ======--
local ballPosition = honey.glm.vec3()
setVector(ballPosition, ode.BodyGetPosition(body))
local time = 0
local dtAverage = 0
local dtCount = 0
while not window.shouldClose(w) do
if window.getKey(w, window.KEY_ESCAPE) == window.PRESS then
break
end
local newTime = window.getTime()
local dt = newTime - time
dtAverage = dtAverage + dt
dtCount = dtCount + 1
if dtCount > 60 then
local fps = dtCount/dtAverage
print(string.format('%0.2f fps', fps))
dtAverage = 0
dtCount = 0
end
time = newTime
physicsStep()
gl.ClearColor(0.2, 0.3, 0.3, 1.0)
gl.Clear(gl.COLOR_BUFFER_BIT + gl.DEPTH_BUFFER_BIT)
setVector(ballPosition, ode.BodyGetPosition(body))
ball:SetPosition(ballPosition)
shader:Use()
shader:SetMatrix('model', ball.transform)
shader:SetMatrix('view', view)
shader:SetMatrix('projection', projection)
ball:Draw()
window.swapBuffers(w)
window.pollEvents()
end
--===== shut down =====--
window.destroy(w)
gl.Terminate()
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