bulldog_physics 0.1.1 → 0.2.0

data/lib/RigidBodies/spring.rb

@@ -0,0 +1,38 @@
+module BulldogPhysics
+	class Spring < ForceGenerator
+
+
+		attr :connection_point # connection point in local coords
+		attr :other_connection_point # point of connection of the spring to the other object in that objects local coords
+		attr :other #particle at the other end of the spring
+		attr :spring_constant 
+		attr :rest_length
+
+		def initialize(local_connection_pt, other_body, other_connection_point, spring_constant, rest_length)
+			@conection_point, @other, @other_connection_point, @spring_constant, @rest_length = local_connection_pt, other_body, other_connection_point, spring_constant, rest_length
+		end
+
+		def update_force(body, duration)
+			# calc ends in world space
+			lws = body.get_point_in_world_space(@conection_point)
+			ows = other.get_point_in_world_space(@other_connection_point)
+
+			# calculate the vector of the string
+			force = lws - ows
+
+			# calculate magnitude of the force
+			magnitude = force.magnitude
+			magnitude = (magnitude - @rest_length).abs
+			magnitude *= @spring_constant
+
+			# calculate and apply the final force
+			force.normalize
+			force *= -magnitude
+			body.add_force_at_point(force, lws)
+		end
+
+
+
+		
+	end
+end

data/lib/RigidBodies/world.rb

@@ -0,0 +1,97 @@
+module BulldogPhysics
+	class BodyRegistration
+		attr_accessor :body, :next_body
+
+		def initialize(body = RigidBody.new, next_body = nil)
+			@body = body
+			@next_body = next_body
+		end
+	end
+
+	class ContactGenRegistration
+		attr_accessor :gen, :next_gen
+
+		def initialize(gen = ContactGenerator.new, next_gen = nil)
+			@gen = gen
+			@next_body = next_gen
+		end
+	end
+
+	class World
+
+		attr_accessor :bodies, :registry
+		attr_accessor :resolver
+		attr_accessor :contact_generators
+		attr_accessor :first_body
+		attr_accessor :contacts
+		attr_accessor :max_contacts
+		attr_accessor :calculate_iterations
+
+
+		def initialize(max_contacts = 20, iterations = 5)
+			@max_contacts = max_contacts
+			@contacts = Array.new
+			@calculate_iterations = iterations == 0
+			@resolver = ContactResolver.new(iterations)
+			@bodies = Array.new
+			@registry = ForceRegistry.new
+			@contact_generators = Array.new
+		end
+
+		def start_frame()
+			@bodies.each do |body|
+				body.clear_accumulators
+				body.calculate_derived_data
+			end
+		end
+
+		def generate_contacts()
+			limit = @max_contacts
+
+
+			for g in @contact_generators
+				used = g.add_contact(@contacts, limit)				
+			end
+
+			#eturn @max_contacts - limit
+			return @contacts.size
+		end
+
+
+		def integrate(duration)
+			for b in @bodies
+				b.integrate(duration)
+				b.calculate_derived_data
+				#b.calculate_internals
+			end
+		end
+
+		def run_physics(duration, clear_contacts = true)
+
+			#@contacts.clear() if clear_contacts
+
+			@registry.update_forces(duration)
+			integrate(duration)
+			used_contacts = generate_contacts()
+          
+			if(used_contacts > 0)
+				#if(@calculate_iterations)
+			  		@resolver.iterations = used_contacts * 2
+			  		@resolver.resolve_contacts(@contacts, used_contacts, duration)
+			#	end
+			end
+
+
+
+
+			#integrate(duration)
+		end
+
+		def add_gravity
+          #gravity = Gravity.new(Vector3.new(0, -0.5, 0))
+          #@bodies.each{|body| @registry.add(body, gravity)}
+        end
+
+
+	end
+end

data/lib/bulldog_physics.rb

@@ -40,8 +40,10 @@ module BulldogPhysics
 end
 
 #require_all 'Particles'
-require 'vector3'
-require 'matrix3'
-require 'quaternion'
-require 'matrix4'
+require File.join(File.dirname(__FILE__), '/vector3')
+require File.join(File.dirname(__FILE__), '/matrix3')
+require File.join(File.dirname(__FILE__), '/quaternion')
+require File.join(File.dirname(__FILE__), '/matrix4')
+
 require_all File.dirname(__FILE__) + '/Particles'
+require_all File.dirname(__FILE__) + '/RigidBodies'

data/lib/examples/GlStuff/gl_utility.rb

@@ -17,5 +17,9 @@ module GlStuff
       glEnable(GL_TEXTURE_2D);
     end
     
+
+    def self.mem_pointer(array)
+      MemoryPointer.new(:float, array.size).put_array_of_float(0, array)
+    end
   end
 end

data/lib/examples/GlStuff/lighting.rb

@@ -9,7 +9,7 @@ module GlStuff
     def initialize
       @ambient = [ 0.0, 1.0, 0.0, 1.0 ]
       @diffuse = [ 1.0, 1.0, 1.0, 1.0 ]
-      @position = [ 1.0, 5.0, 1.0, 0.0 ]
+      @position = MemoryPointer.new(:float, 4).put_array_of_float(0, [1.0, 5.0, 1.0, 1.0])
       @lmodel_ambient = [ 0.4, 0.4, 0.4, 1.0 ]
       @no_mat = [ 0.0, 0.0, 0.0, 1.0 ]
       @mat_ambient = [ 0.7, 0.7, 0.7, 1.0 ]

data/lib/examples/GlStuff/material.rb

@@ -4,20 +4,20 @@ module GlStuff
     attr_accessor :ambient, :diffuse, :specular, :shininess, :emission
     
     def initialize()
-      @ambient = [ 0.7, 0.7, 0.7, 1.0 ]
-      @ambient_color = [ 0.8, 0.8, 0.2, 1.0 ]
-      @diffuse = [ 0.5, 0.5, 0.5, 1.0 ]
-      @specular = [ 1.0, 1.0, 1.0, 1.0 ]
-      @shininess = [ 0.0 ] # 0 is noe, 100 would be hide
-      @emission = [0.3, 0.2, 0.2, 0.0]
+      @ambient = GlUtility.mem_pointer([ 0.7, 0.7, 0.7, 1.0 ])
+      @ambient_color = GlUtility.mem_pointer([ 0.8, 0.8, 0.2, 1.0 ])
+      @diffuse = GlUtility.mem_pointer([ 0.5, 0.5, 0.5, 1.0 ])
+      @specular = GlUtility.mem_pointer([ 1.0, 1.0, 1.0, 1.0 ])
+      @shininess = GlUtility.mem_pointer([ 0.0 ]) # 0 is noe, 100 would be hide
+      @emission = GlUtility.mem_pointer([0.3, 0.2, 0.2, 0.0])
     end
     
     def setup_material
-      glMaterial(GL_FRONT, GL_AMBIENT, @ambient)
-  	  glMaterial(GL_FRONT, GL_DIFFUSE, @diffuse)
-  	  glMaterial(GL_FRONT, GL_SPECULAR, @specular)
-  	  glMaterial(GL_FRONT, GL_SHININESS, @shininess)
-  	  glMaterial(GL_FRONT, GL_EMISSION, @emission)
+      glMaterialfv(GL_FRONT, GL_AMBIENT, @ambient)
+  	  #glMaterialfv(GL_FRONT, GL_DIFFUSE, @diffuse)
+  	  #glMaterialfv(GL_FRONT, GL_SPECULAR, @specular)
+  	  #glMaterialfv(GL_FRONT, GL_SHININESS, @shininess)
+  	  #glMaterialfv(GL_FRONT, GL_EMISSION, @emission)
 	  end
   	
 	end

data/lib/examples/buoyancy_game.rb

@@ -0,0 +1,189 @@
+require 'rubygems'
+require 'rubygame'
+begin
+  require 'ffi-opengl'
+  $gl = :ffi_opengl
+  include FFI,GL,GLU,GLUT
+rescue LoadError
+  puts "ATTENTION: This demo requires the opengl extension for ruby."
+  raise
+end
+require './lib/bulldog_physics'
+require_all './lib/examples/GlStuff'
+include BulldogPhysics
+include Rubygame
+include GlStuff
+
+
+class Game
+  def initialize(width,height)
+    @width = width
+    @height = height
+    @queue = EventQueue.new
+    @queue.enable_new_style_events
+    @clock = Clock.new    
+    @world = World.new(20,2)
+    @x_trans, @y_trans, @z_trans = 0, 0, -20
+    @w_down = @a_down = @s_down = @d_down = @zoom_in_down = false
+  end
+
+  def init_game()
+    Rubygame.init
+
+    Rubygame::GL.set_attrib(Rubygame::GL::RED_SIZE, 5)
+    Rubygame::GL.set_attrib(Rubygame::GL::GREEN_SIZE, 5)
+    Rubygame::GL.set_attrib(Rubygame::GL::BLUE_SIZE, 5)
+   # Rubygame::GL.set_attrib(Rubygame::GL::DEPTH_SIZE, 16)
+    #Rubygame::GL.set_attrib(Rubygame::GL::DOUBLEBUFFER, 1)
+		
+		@maximum_resolution = Screen.get_resolution
+    @screen = Screen.new([@width,@height], 16, [OPENGL,HWSURFACE])
+    @clock.target_framerate = 30
+    @clock.calibrate
+    @clock.enable_tick_events
+    ObjectSpace.garbage_collect
+
+    glViewport( 0, 0, @width, @height )
+    glMatrixMode( GL_PROJECTION )
+    glLoadIdentity( )
+
+    gluPerspective( 45, @width/@height, 0.5, 1000.0)
+    #gluLookAt(0.0,0,0.0,0.0,0.0,0.0,0.0,0.0,-1.0);
+    glMatrixMode( GL_MODELVIEW )
+    glLoadIdentity( )
+    
+    @lighting = Lighting.new
+    @lighting.setup
+    
+    glShadeModel(GL_SMOOTH);
+    glEnable(GL_DEPTH_TEST)
+    glEnable(GL_LIGHTING)
+    glEnable(GL_LIGHT0)
+    glDepthFunc(GL_LESS)
+
+    @sail_boat = RigidBody.new
+    @sail_boat.position = Vector3.new(0, 1.6, 0)
+    @sail_boat.orientation = Quaternion.new(1.0, 0, 0, 0)
+    @sail_boat.mass = 200.0
+    #@sail_boat.set_inertia_tensor(Vector3.new(2,1,1), 100)
+    @sail_boat.linear_damping = 0.8
+    @sail_boat.angular_damping = 0.8
+    @sail_boat.calculate_derived_data
+
+    buoyancy = Buoyancy.new(Vector3.new(0.0, 0.5, 0.0 ), 1.0, 3.6, 1.6)
+    @world.registry.add( @sail_boat, buoyancy)
+    @world.bodies << @sail_boat
+  end
+
+
+
+  def run()
+    catch(:rubygame_quit) do
+    	loop do
+    		@queue.each do |event|
+    			case event
+    			when Rubygame::Events::KeyPressed
+#            puts event.key
+    				case event.key
+    				when :escape
+    					throw :rubygame_quit 
+    				when :q
+    					throw :rubygame_quit 
+    				when :w
+    				  @w_down = true
+              @zoom_in_down = event.modifiers.include? :left_shift
+    			  when :s
+    			    @s_down = true
+              @zoom_out_down = event.modifiers.include? :left_shift
+    		    when :a
+    		      @a_down = true
+    	      when :d
+    	        @d_down = true
+          when Rubygame::Events::KeyReleased
+            case event.key
+            when :w
+              @w_down = false
+            when :a
+              @a_down = false
+            when :d
+              @d_down = false
+            when :s
+              @s_down = false
+            end
+            @zoom_in_down = false
+          when Rubygame::Events::QuitRequested
+            throw :rubygame_quit
+          end
+        end
+
+        @time_elapsed = @clock.tick()
+        @time_alive = @clock.lifetime
+        seconds_elapsed = @time_elapsed.milliseconds / 1000.0
+        duration = seconds_elapsed
+        @world.start_frame
+
+        glClearColor(0.0, 0.0, 0.0, -1.0)
+    		glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
+        glLoadIdentity()
+        
+
+        interval = 2
+        if @w_down
+          unless @zoom_in_down
+            @z_trans += interval
+          else 
+            @y_trans += interval
+          end
+        end
+        if @s_down
+          unless @zoom_out_down
+            @z_trans -= interval if @s_down
+          else
+            @y_trans -= interval
+          end
+        end
+        @x_trans += interval if @a_down
+        @x_trans -= interval if @d_down
+
+
+        glTranslatef(@x_trans,@y_trans,@z_trans)
+        
+        glPushMatrix()
+           glBegin(GL_QUADS)
+           glVertex3f(-1000, -1 , 1000)
+           glVertex3f(-1000, -1, -1000)
+           glVertex3f(1000, -1, -1000)
+           glVertex3f(1000, -1, 1000)
+           glEnd
+        glPopMatrix()
+
+
+        @world.bodies.each do |body|
+          glPushMatrix()
+          mat = GlUtility.mem_pointer(body.get_gl_transform)
+          glMultMatrixf(mat)
+          glRotatef(body.rotation.x, 1, 0, 0)
+          glRotatef(body.rotation.y, 0, 1, 0)
+          glRotatef(body.rotation.z, 0, 0, 1)
+          glutSolidCube(0.5)
+          glPopMatrix()
+        end
+        
+        @world.run_physics(duration, false)
+
+    		Rubygame::GL.swap_buffers()
+				@screen.update
+        @screen.flip
+
+    		ObjectSpace.garbage_collect
+
+    	end
+    end
+  
+  end
+    
+end
+
+game = Game.new(640,480)
+game.init_game
+game.run

data/lib/examples/simple_game.rb

@@ -1,16 +1,16 @@
 require 'rubygems'
 require 'rubygame'
 begin
-  require 'opengl'
-  include Gl,Glu,Glut
+  require 'ffi-opengl'
+  $gl = :ffi_opengl
+  #include Gl,Glu,Glut
 rescue LoadError
   puts "ATTENTION: This demo requires the opengl extension for ruby."
   raise
 end
-
-require 'bulldog_physics'
-
-require_all 'GlStuff'
+ include FFI, GL, GLU, GLUT
+require './lib/bulldog_physics'
+require_all './lib/examples/GlStuff'
 
 include BulldogPhysics
 include BulldogPhysics::Particles
@@ -67,8 +67,8 @@ class Game
     @ball.damping = 1
     @ball.material.specular = BALL_SPECULAR
     @ball.material.diffuse = PARTICLE_DIFFUSE
-    @ball.frozen = true
-        
+		@ball.frozen = true
+    		
     
     @current_ball = Particle.new
     @current_ball.position = @ball.position
@@ -79,44 +79,47 @@ class Game
     @world.registry.add( @current_ball, ParticleGravity.new())
     @world.particles << @current_ball
    
-     
+   	 
    particle1 = Particle.new
    particle1.mass = 1
-   particle1.position = Vector3.new(5,2,0)
-   particle1.damping = 1
-   particle1.velocity = Vector3.new(0,2.0,0)
+   particle1.position = Vector3.new(0.75,16.0,0.0)
+   particle1.damping = 0.8
+   particle1.velocity = Vector3.new(0.0,0.0,0)
    particle1.material.specular = ANCHOR_SPECULAR
    particle1.material.diffuse = PARTICLE_DIFFUSE
    
    particle2 = Particle.new
    particle2.mass = 1
-   particle2.position = Vector3.new(0,2,0)
-   particle2.damping = 1
+   particle2.position = Vector3.new(-8.0,5,0)
+   particle2.damping = 0.8
    particle2.velocity = Vector3.new(0,0.0,0)
    particle2.material.specular = ANCHOR_SPECULAR
    particle2.material.diffuse = PARTICLE_DIFFUSE
    
-   prod = ParticleRod.new(particle1, particle2, 2.0)
-   
+    #prod = ParticleRod.new(particle1, particle2, 2.0)
+    
+    pspring = ParticleSpring.new(@current_ball,4,3)
+    @world.registry.add( particle2, ParticleGravity.new())
+    @world.registry.add( particle1, pspring)
     @world.particles << particle1 
     @world.particles << particle2
-    @world.contact_generators << prod
+		#@world.contact_generators << prod
    
-    @world.contact_generators << ParticleGroundContacts.new(@world.particles)
-    @world.contact_generators << ParticleParticleContacts.new(@world.particles)
+   	@world.contact_generators << ParticleGroundContacts.new(@world.particles)
+   	@world.contact_generators << ParticleParticleContacts.new(@world.particles)
    
     for i in 1..5
-      for j in 1..5
-        part = Particle.new
-        part.mass = 0
-        offset = j % 2 == 0 ? 1 : 0
-        part.position = Vector3.new( -5 + i * 2 + offset, j * 2, 0)
-        part.material.specular = SPRING_SPECULAR
-        part.material.diffuse = PARTICLE_DIFFUSE
-        @world.particles << part
-      end
-    end
-    
+	    for j in 1..5
+		    part = Particle.new
+		    part.mass = 0
+		    offset = j % 2 == 0 ? 1 : 0
+		    part.position = Vector3.new( -5 + i * 2 + offset, j * 2, 0)
+		    part.material.specular = SPRING_SPECULAR
+		    part.material.diffuse = PARTICLE_DIFFUSE
+		    @world.particles << part
+		  end
+		end
+		
 
     puts "PARTICLE COUNT [ #{@world.particles.size} ] "
     puts "Contact Generators count: #{@world.contact_generators.size}"
@@ -134,20 +137,20 @@ class Game
     Rubygame::GL.set_attrib(Rubygame::GL::BLUE_SIZE, 5)
     Rubygame::GL.set_attrib(Rubygame::GL::DEPTH_SIZE, 16)
     Rubygame::GL.set_attrib(Rubygame::GL::DOUBLEBUFFER, 1)
-    
-  @maximum_resolution = Screen.get_resolution
+		
+	@maximum_resolution = Screen.get_resolution
     @screen = Screen.new([@width,@height], 16, [OPENGL])
     @clock.target_framerate = 30
     @clock.calibrate
     @clock.enable_tick_events
     ObjectSpace.garbage_collect
       
-    glViewport( 0, 0, WIDE, HIGH )
-    glMatrixMode( GL::PROJECTION )
+    GL::glViewport( 0, 0, WIDE, HIGH )
+    glMatrixMode( GL_PROJECTION )
     glLoadIdentity( )
     #GLU::Perspective( -35, WIDE/(HIGH.to_f), 0.5, 30.0)
-    GLU::Perspective( 45, WIDE/(HIGH.to_f), 0.5, 100.0)
-    glMatrixMode( GL::MODELVIEW )
+    gluPerspective( 45, WIDE/(HIGH.to_f), 0.5, 100.0)
+    glMatrixMode( GL_MODELVIEW )
     glLoadIdentity( )
     
 
@@ -155,10 +158,10 @@ class Game
     @lighting.setup
     
     glShadeModel (GL_SMOOTH);
-    glEnable(GL::DEPTH_TEST)
+    glEnable(GL_DEPTH_TEST)
     glEnable(GL_LIGHTING)
     glEnable(GL_LIGHT0)
-    glDepthFunc(GL::LESS)
+    glDepthFunc(GL_LESS)
     
 
       
@@ -167,41 +170,41 @@ class Game
   
   def run()
     catch(:rubygame_quit) do
-      loop do
-        @queue.each do |event|
-          case event
-          when Rubygame::Events::KeyPressed
+    	loop do
+    		@queue.each do |event|
+    			case event
+    			when Rubygame::Events::KeyPressed
 #            puts event.key
-            case event.key
-            when :escape
-              throw :rubygame_quit 
-            when :q
-              throw :rubygame_quit 
-            when :w
-              @w_down = true
-            when :s
-              @s_down = true 
-            when :a
-              @a_down = true
-            when :d
-              @d_down = true
-            when :l
-              @world.particles.each do |part|
-                puts part.position
-                puts "NUM CONTACTS: #{@world.contacts.size}"
-              end
-            when :space
-              @current_ball.frozen = !@current_ball.frozen
+    				case event.key
+    				when :escape
+    					throw :rubygame_quit 
+    				when :q
+    					throw :rubygame_quit 
+    				when :w
+    				  @w_down = true
+    			  when :s
+    			    @s_down = true 
+    		    when :a
+    		      @a_down = true
+    	      when :d
+    	        @d_down = true
+		        when :l
+		          @world.particles.each do |part|
+		            puts part.position
+		            puts "NUM CONTACTS: #{@world.contacts.size}"
+	            end
+    	      when :space
+	    	      @current_ball.frozen = !@current_ball.frozen
             when :r
-              puts "RESET"
-              @current_ball = Particle.new
-              @current_ball.position = START_POSITION.dup
-              @current_ball.velocity = @ball.velocity.dup
-              @current_ball.mass = @ball.mass
-              @current_ball.damping = @ball.damping
-              @current_ball.frozen = true
-              @world.registry.add( @current_ball, ParticleGravity.new())
-              @world.particles << @current_ball
+	            puts "RESET"
+	            @current_ball = Particle.new
+	            @current_ball.position = START_POSITION.dup
+	            @current_ball.velocity = @ball.velocity.dup
+	            @current_ball.mass = @ball.mass
+	            @current_ball.damping = @ball.damping
+	            @current_ball.frozen = true
+	            @world.registry.add( @current_ball, ParticleGravity.new())
+	            @world.particles << @current_ball
             end
           when Rubygame::Events::KeyReleased
             case event.key
@@ -237,7 +240,7 @@ class Game
         @world.start_frame
 
         glClearColor(0.0, 0.0, 0.0, -1.0)
-      glClear(GL::COLOR_BUFFER_BIT|GL::DEPTH_BUFFER_BIT)
+    	glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT)
         glLoadIdentity()
         
         glTranslatef(@x_trans,@y_trans,@z_trans)
@@ -266,12 +269,12 @@ class Game
 
         @world.run_physics(seconds_elapsed)
 
-      Rubygame::GL.swap_buffers()
-    @screen.update
+    	Rubygame::GL.swap_buffers()
+		@screen.update
         @screen.flip
-      ObjectSpace.garbage_collect
+    	ObjectSpace.garbage_collect
 
-      end
+    	end
     end
   
   end