OpenSceneGraph实现的NeHe OpenGL教程 - 第四十课

• 简介

NeHe教程在这节课向我们介绍了如何模拟一根绳子的运动状态，简单的说，就是把绳子先离散化，把它想象成一个个紧密排列的点，每两个点之间有弹性约束。其实这就是简单的有限元思想。这节课的内容和上节课一样，主要是和物理、数学有关系，和图形图像的关系不大。

• 实现

首先我们同样是创建场景中的几何体：

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1. root->addChild(createGround());   //地面  
2. root->addChild(createRopeShadow()); //绳子阴影  
3. root->addChild(createRope());   //绳子  

接下来设置各个几何体的更新回调：

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1. osg::Geode* createRope()  
2. {  
3.     osg::Geode *geode = new osg::Geode;  
4.     osg::Geometry *geometry = new osg::Geometry;  
5.     geometry->setUpdateCallback(new RopeUpdateCallback);  
6.     osg::Vec3Array *vertexArray = new osg::Vec3Array;  
7.     osg::Vec3Array *colorArray = new osg::Vec3Array;  
8.   
9.     colorArray->push_back(osg::Vec3(1, 1, 0));  
10.   
11.     for (int a = 0; a < ropeSimulation->numOfMasses - 1; ++a)  
12.     {  
13.         Mass* mass1 = ropeSimulation->getMass(a);  
14.         Vector3D* pos1 = &mass1->pos;  
15.   
16.         Mass* mass2 = ropeSimulation->getMass(a + 1);  
17.         Vector3D* pos2 = &mass2->pos;  
18.   
19.         vertexArray->push_back(osg::Vec3(pos1->x, pos1->y, pos1->z));     
20.         vertexArray->push_back(osg::Vec3(pos2->x, pos2->y, pos2->z));  
21.     }  
22.   
23.     geometry->setVertexArray(vertexArray);  
24.     geometry->setColorArray(colorArray, osg::Array::BIND_OVERALL);  
25.     geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);  
26.     geometry->getOrCreateStateSet()->setMode(GL_DEPTH_TEST, false);  
27.     geometry->getOrCreateStateSet()->setAttributeAndModes(new osg::LineWidth(4.0));  
28.     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, vertexArray->size()));  
29.     geode->addDrawable(geometry);  
30.     return geode;  
31. }  

在帧循环中更新绳子的各项参数：

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1. case (osgGA::GUIEventAdapter::FRAME):  
2.     {  
3.         double dt = 0.0;  
4.         _currentTick = osg::Timer::instance()->tick();  
5.         if (_currentTick != _lastTick)  
6.         {         
7.             dt = osg::Timer::instance()->delta_s(_lastTick, _currentTick);  
8.             _lastTick = _currentTick;  
9.         }  
10.   
11.         ropeSimulation->setRopeConnectionVel(ropeConnectionVel);       
12.   
13.         float maxPossible_dt = 0.002f;                                        
14.   
15.         int numOfIterations = (int)(dt / maxPossible_dt) + 1;             
16.         if (numOfIterations != 0)  
17.             dt = dt / numOfIterations;    
18.   
19.         for (int a = 0; a < numOfIterations; ++a)  
20.             ropeSimulation->operate(dt);  
21.     }  

将各部分添加到场景根节点，编译运行程序：

附：本课源码(源码中可能存在错误和不足，仅供参考)

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1. #include "../osgNeHe.h"  
2.   
3. #include <QtCore/QTimer>  
4. #include <QtGui/QApplication>  
5. #include <QtGui/QVBoxLayout>  
6.   
7. #include <osgViewer/Viewer>  
8. #include <osgDB/ReadFile>  
9. #include <osgQt/GraphicsWindowQt>  
10.   
11. #include <osg/MatrixTransform>  
12. #include <osg/LineWidth>  
13.   
14. #include "Physics2.h"  
15.   
16.   
17. //  
18.   
19. RopeSimulation* ropeSimulation = new RopeSimulation(  
20.     80,                     // 80 Particles (Masses)  
21.     0.05f,                  // Each Particle Has A Weight Of 50 Grams  
22.     10000.0f,               // springConstant In The Rope  
23.     0.05f,                  // Normal Length Of Springs In The Rope  
24.     0.2f,                   // Spring Inner Friction Constant  
25.     Vector3D(0, -9.81f, 0), // Gravitational Acceleration  
26.     0.02f,                  // Air Friction Constant  
27.     100.0f,                 // Ground Repel Constant  
28.     0.2f,                   // Ground Slide Friction Constant  
29.     2.0f,                   // Ground Absoption Constant  
30.     -1.5f);                 // Height Of Ground  
31.   
32.   
33.   
34. bool initialize ()  
35. {  
36.     ropeSimulation->getMass(ropeSimulation->numOfMasses - 1)->vel.z = 10.0f;  
37.     return true;  
38. }  
39.   
40.   
41. //  
42.   
43.   
44. class GroundUpdateCallback : public osg::Drawable::UpdateCallback  
45. {  
46. public:  
47.   
48.     virtual void update(osg::NodeVisitor*, osg::Drawable* d)  
49.     {  
50.         osg::Geometry *geometry = dynamic_cast<osg::Geometry*>(d);  
51.         if (!geometry)  
52.             return;  
53.   
54.         osg::Vec3Array *vertexArray = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());  
55.         if (!vertexArray)  
56.             return;  
57.   
58.         vertexArray->clear();  
59.           
60.         vertexArray->push_back(osg::Vec3(20, ropeSimulation->groundHeight, 20));  
61.         vertexArray->push_back(osg::Vec3(-20, ropeSimulation->groundHeight, 20));  
62.         vertexArray->push_back(osg::Vec3(-20, ropeSimulation->groundHeight, -20));  
63.         vertexArray->push_back(osg::Vec3(20, ropeSimulation->groundHeight, -20));  
64.       
65.         geometry->setVertexArray(vertexArray);  
66.         vertexArray->dirty();  
67.     }  
68.   
69. };  
70.   
71.   
72.   
73. class RopeShadowUpdateCallback : public osg::Drawable::UpdateCallback  
74. {  
75. public:  
76.   
77.     virtual void update(osg::NodeVisitor*, osg::Drawable* d)  
78.     {  
79.         osg::Geometry *geometry = dynamic_cast<osg::Geometry*>(d);  
80.         if (!geometry)  
81.             return;  
82.   
83.         osg::Vec3Array *vertexArray = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());  
84.         if (!vertexArray)  
85.             return;  
86.   
87.         vertexArray->clear();  
88.   
89.         for (int a = 0; a < ropeSimulation->numOfMasses - 1; ++a)  
90.         {  
91.             Mass* mass1 = ropeSimulation->getMass(a);  
92.             Vector3D* pos1 = &mass1->pos;  
93.   
94.             Mass* mass2 = ropeSimulation->getMass(a + 1);  
95.             Vector3D* pos2 = &mass2->pos;  
96.             vertexArray->push_back(osg::Vec3(pos1->x, ropeSimulation->groundHeight, pos1->z));      // Draw Shadow At groundHeight  
97.             vertexArray->push_back(osg::Vec3(pos2->x, ropeSimulation->groundHeight, pos2->z));      // Draw Shadow At groundHeight  
98.         }  
99.   
100.         geometry->setVertexArray(vertexArray);  
101.         vertexArray->dirty();  
102.     }  
103.   
104. };  
105.   
106.   
107. class RopeUpdateCallback : public osg::Drawable::UpdateCallback  
108. {  
109. public:  
110.   
111.     virtual void update(osg::NodeVisitor*, osg::Drawable* d)  
112.     {  
113.         osg::Geometry *geometry = dynamic_cast<osg::Geometry*>(d);  
114.         if (!geometry)  
115.             return;  
116.   
117.         osg::Vec3Array *vertexArray = dynamic_cast<osg::Vec3Array*>(geometry->getVertexArray());  
118.         if (!vertexArray)  
119.             return;  
120.   
121.         vertexArray->clear();  
122.   
123.         for (int a = 0; a < ropeSimulation->numOfMasses - 1; ++a)  
124.         {  
125.             Mass* mass1 = ropeSimulation->getMass(a);  
126.             Vector3D* pos1 = &mass1->pos;  
127.   
128.             Mass* mass2 = ropeSimulation->getMass(a + 1);  
129.             Vector3D* pos2 = &mass2->pos;  
130.   
131.             vertexArray->push_back(osg::Vec3(pos1->x, pos1->y, pos1->z));     
132.             vertexArray->push_back(osg::Vec3(pos2->x, pos2->y, pos2->z));  
133.         }  
134.   
135.         geometry->setVertexArray(vertexArray);  
136.         vertexArray->dirty();  
137.     }  
138.   
139. };  
140.   
141.   
142.   
143.   
144.   
145. osg::Geode* createGround()  
146. {  
147.     osg::Geode *geode = new osg::Geode;  
148.     osg::Geometry *geometry = new osg::Geometry;  
149.     geometry->setUpdateCallback(new GroundUpdateCallback);  
150.     osg::Vec3Array *vertexArray = new osg::Vec3Array;  
151.     osg::Vec3Array *colorArray = new osg::Vec3Array;  
152.       
153.     colorArray->push_back(osg::Vec3(0, 0, 1.0));  
154.     vertexArray->push_back(osg::Vec3(20, ropeSimulation->groundHeight, 20));  
155.     colorArray->push_back(osg::Vec3(0, 0, 1.0));  
156.     vertexArray->push_back(osg::Vec3(-20, ropeSimulation->groundHeight, 20));  
157.     colorArray->push_back(osg::Vec3(0,0,0));  
158.     vertexArray->push_back(osg::Vec3(-20, ropeSimulation->groundHeight, -20));  
159.     colorArray->push_back(osg::Vec3(0,0,0));  
160.     vertexArray->push_back(osg::Vec3(20, ropeSimulation->groundHeight, -20));  
161.   
162.     geometry->setVertexArray(vertexArray);  
163.     geometry->setColorArray(colorArray, osg::Array::BIND_PER_VERTEX);  
164.     geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);  
165.     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS, 0, vertexArray->size()));  
166.     geode->addDrawable(geometry);  
167.     return geode;  
168. }  
169.   
170.   
171. osg::Geode* createRopeShadow()  
172. {  
173.     osg::Geode *geode = new osg::Geode;  
174.     osg::Geometry *geometry = new osg::Geometry;  
175.     geometry->setUpdateCallback(new RopeShadowUpdateCallback);  
176.     osg::Vec3Array *vertexArray = new osg::Vec3Array;  
177.     osg::Vec3Array *colorArray = new osg::Vec3Array;  
178.   
179.     colorArray->push_back(osg::Vec3(0, 0, 0));  
180.       
181.     for (int a = 0; a < ropeSimulation->numOfMasses - 1; ++a)  
182.     {  
183.         Mass* mass1 = ropeSimulation->getMass(a);  
184.         Vector3D* pos1 = &mass1->pos;  
185.   
186.         Mass* mass2 = ropeSimulation->getMass(a + 1);  
187.         Vector3D* pos2 = &mass2->pos;  
188.         vertexArray->push_back(osg::Vec3(pos1->x, ropeSimulation->groundHeight, pos1->z));      // Draw Shadow At groundHeight  
189.         vertexArray->push_back(osg::Vec3(pos2->x, ropeSimulation->groundHeight, pos2->z));      // Draw Shadow At groundHeight  
190.     }  
191.       
192.     geometry->setVertexArray(vertexArray);  
193.     geometry->setColorArray(colorArray, osg::Array::BIND_OVERALL);  
194.     geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);  
195.     geometry->getOrCreateStateSet()->setAttributeAndModes(new osg::LineWidth(2.0));  
196.     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, vertexArray->size()));  
197.     geode->addDrawable(geometry);  
198.     return geode;  
199. }  
200.   
201.   
202. osg::Geode* createRope()  
203. {  
204.     osg::Geode *geode = new osg::Geode;  
205.     osg::Geometry *geometry = new osg::Geometry;  
206.     geometry->setUpdateCallback(new RopeUpdateCallback);  
207.     osg::Vec3Array *vertexArray = new osg::Vec3Array;  
208.     osg::Vec3Array *colorArray = new osg::Vec3Array;  
209.   
210.     colorArray->push_back(osg::Vec3(1, 1, 0));  
211.   
212.     for (int a = 0; a < ropeSimulation->numOfMasses - 1; ++a)  
213.     {  
214.         Mass* mass1 = ropeSimulation->getMass(a);  
215.         Vector3D* pos1 = &mass1->pos;  
216.   
217.         Mass* mass2 = ropeSimulation->getMass(a + 1);  
218.         Vector3D* pos2 = &mass2->pos;  
219.   
220.         vertexArray->push_back(osg::Vec3(pos1->x, pos1->y, pos1->z));     
221.         vertexArray->push_back(osg::Vec3(pos2->x, pos2->y, pos2->z));  
222.     }  
223.   
224.     geometry->setVertexArray(vertexArray);  
225.     geometry->setColorArray(colorArray, osg::Array::BIND_OVERALL);  
226.     geometry->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);  
227.     geometry->getOrCreateStateSet()->setMode(GL_DEPTH_TEST, false);  
228.     geometry->getOrCreateStateSet()->setAttributeAndModes(new osg::LineWidth(4.0));  
229.     geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, vertexArray->size()));  
230.     geode->addDrawable(geometry);  
231.     return geode;  
232. }  
233.   
234.   
235.   
236. //  
237.   
238. class ManipulatorSceneHandler : public osgGA::GUIEventHandler  
239. {  
240. public:  
241.     ManipulatorSceneHandler()  
242.     {  
243.         _lastTick  =  osg::Timer::instance()->tick();  
244.         _currentTick = _lastTick;  
245.     }  
246.   
247. public:  
248.     virtual bool handle(const osgGA::GUIEventAdapter& ea, osgGA::GUIActionAdapter& aa)  
249.     {  
250.         osgViewer::Viewer *viewer = dynamic_cast<osgViewer::Viewer*>(&aa);  
251.         if (!viewer)  
252.             return false;  
253.         if (!viewer->getSceneData())  
254.             return false;  
255.         if (ea.getHandled())   
256.             return false;  
257.   
258.         osg::Group *root = viewer->getSceneData()->asGroup();  
259.   
260.         switch(ea.getEventType())  
261.         {  
262.         case (osgGA::GUIEventAdapter::FRAME):  
263.             {  
264.                 double dt = 0.0;  
265.                 _currentTick = osg::Timer::instance()->tick();  
266.                 if (_currentTick != _lastTick)  
267.                 {         
268.                     dt = osg::Timer::instance()->delta_s(_lastTick, _currentTick);  
269.                     _lastTick = _currentTick;  
270.                 }  
271.   
272.                 ropeSimulation->setRopeConnectionVel(ropeConnectionVel);       
273.   
274.                 float maxPossible_dt = 0.002f;                                        
275.   
276.                 int numOfIterations = (int)(dt / maxPossible_dt) + 1;             
277.                 if (numOfIterations != 0)  
278.                     dt = dt / numOfIterations;    
279.   
280.                 for (int a = 0; a < numOfIterations; ++a)  
281.                     ropeSimulation->operate(dt);  
282.             }  
283.             break;  
284.         case(osgGA::GUIEventAdapter::KEYDOWN):  
285.             {  
286.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Up)  
287.                 {  
288.                         ropeConnectionVel.z -= 1.0f;      
289.                 }  
290.   
291.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Down)  
292.                 {  
293.                     ropeConnectionVel.z += 1.0f;  
294.                 }  
295.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Left)  
296.                 {  
297.                     ropeConnectionVel.x -= 1.0f;  
298.                 }  
299.   
300.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Right)  
301.                 {  
302.                         ropeConnectionVel.x += 1.0f;  
303.                 }  
304.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_Home)  
305.                 {  
306.                     ropeConnectionVel.y += 1.0f;      
307.                 }  
308.   
309.                 if (ea.getKey() == osgGA::GUIEventAdapter::KEY_End)  
310.                 {  
311.                     ropeConnectionVel.y -= 1.0f;  
312.                 }  
313.             }  
314.             break;  
315.   
316.         default: break;  
317.         }  
318.         return false;  
319.     }  
320.   
321.     osg::Timer_t _lastTick;  
322.     osg::Timer_t _currentTick;  
323.     Vector3D ropeConnectionVel;  
324. };  
325.   
326.   
327.   
328.   
329.   
330.   
331.   
332. class ViewerWidget : public QWidget, public osgViewer::Viewer  
333. {  
334. public:  
335.     ViewerWidget(osg::Node *scene = NULL)  
336.     {  
337.         QWidget* renderWidget = getRenderWidget( createGraphicsWindow(0,0,100,100), scene);  
338.   
339.         QVBoxLayout* layout = new QVBoxLayout;  
340.         layout->addWidget(renderWidget);  
341.         layout->setContentsMargins(0, 0, 0, 1);  
342.         setLayout( layout );  
343.   
344.         connect( &_timer, SIGNAL(timeout()), this, SLOT(update()) );  
345.         _timer.start( 10 );  
346.     }  
347.   
348.     QWidget* getRenderWidget( osgQt::GraphicsWindowQt* gw, osg::Node* scene )  
349.     {  
350.         osg::Camera* camera = this->getCamera();  
351.         camera->setGraphicsContext( gw );  
352.   
353.         const osg::GraphicsContext::Traits* traits = gw->getTraits();  
354.   
355.         camera->setClearColor( osg::Vec4(0.0, 0.0, 0.0, 0.5) );  
356.         camera->setViewport( new osg::Viewport(0, 0, traits->width, traits->height) );  
357.         camera->setProjectionMatrixAsPerspective(45.0f, static_cast<double>(traits->width)/static_cast<double>(traits->height), 0.1f, 100.0f );  
358.         camera->setViewMatrixAsLookAt(osg::Vec3d(0, 0, 4), osg::Vec3d(0, 0, 0), osg::Vec3d(0, 1, 0));  
359.   
360.         this->setSceneData( scene );  
361.         this->addEventHandler(new ManipulatorSceneHandler);  
362.         return gw->getGLWidget();  
363.     }  
364.   
365.     osgQt::GraphicsWindowQt* createGraphicsWindow( int x, int y, int w, int h, const std::string& name="", bool windowDecoration=false )  
366.     {  
367.         osg::DisplaySettings* ds = osg::DisplaySettings::instance().get();  
368.         osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits;  
369.         traits->windowName = name;  
370.         traits->windowDecoration = windowDecoration;  
371.         traits->x = x;  
372.         traits->y = y;  
373.         traits->width = w;  
374.         traits->height = h;  
375.         traits->doubleBuffer = true;  
376.         traits->alpha = ds->getMinimumNumAlphaBits();  
377.         traits->stencil = ds->getMinimumNumStencilBits();  
378.         traits->sampleBuffers = ds->getMultiSamples();  
379.         traits->samples = ds->getNumMultiSamples();  
380.   
381.         return new osgQt::GraphicsWindowQt(traits.get());  
382.     }  
383.   
384.     virtual void paintEvent( QPaintEvent* event )  
385.     {   
386.         frame();   
387.     }  
388.   
389. protected:  
390.   
391.     QTimer _timer;  
392. };  
393.   
394.   
395.   
396. osg::Node*  buildScene()  
397. {  
398.     initialize();  
399.   
400.     osg::Group *root = new osg::Group;  
401.   
402.     root->addChild(createGround());  
403.     root->addChild(createRopeShadow());  
404.     root->addChild(createRope());  
405.   
406.     return root;  
407. }  
408.   
409.   
410.   
411. int main( int argc, char** argv )  
412. {  
413.     QApplication app(argc, argv);  
414.     ViewerWidget* viewWidget = new ViewerWidget(buildScene());  
415.     viewWidget->setGeometry( 100, 100, 640, 480 );  
416.     viewWidget->show();  
417.     return app.exec();  
418. }