1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
|
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)
window.setFramebufferSizeCallback(w, function(_, width, height)
print(string.format("resize: (%d, %d)", width, height))
gl.setViewport(0, 0, width, height)
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)
local projection = honey.glm.mat4()
honey.glm.perspective(math.rad(45), 800/600, 0.1, 1000, projection)
--====== 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
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()
|
