OpenGL进阶(五)-物理模拟

http://blog.csdn.net/qp120291570/article/details/8362942

今天要实现的是利用OpenGL模拟三个物理学中常见的运动：自由落体，匀速之间，弹簧振子。

首先要实现一个空间三维向量类，看这篇文章：向量类的实现

然后主要要实现的是质点类，

[cpp] view plain copy print ?

1. /* 
2. Copyright: 2012, ustc All rights reserved. 
3. contact:k283228391@126.com 
4. File name: mass.h 
5. Description:Particle in Physical 
6. Author:Silang Quan 
7. Version: 1.0 
8. Date: 2012.12.21 
9. */  
10. #ifndef MASS_H  
11. #define MASS_H  
12. #include "vector3d.h"  
13.   
14. class Mass  
15. {  
16.     public:  
17.         Mass();  
18.         Mass(float _m,float _size){m=_m;size=_size;};  
19.         void init();  
20.         void simulate(float dt);  
21.         void checkBnd(float x1,float x2,float y1,float y2);  
22.         void setForce(Vector3D _force){force=_force;};  
23.         void setVel(Vector3D _vel){vel=_vel;};  
24.         virtual ~Mass();  
25.         inline Vector3D getPos(){return pos;};  
26.         inline Vector3D getVel(){return vel;};  
27.         inline Vector3D getForce(){return force;};  
28.         inline float getSize(){return size;};  
29.   
30.   
31.     protected:  
32.     private:  
33.     float size;                         //大小  
34.     float m;                            // 质量  
35.     Vector3D pos;                               // 位置  
36.     Vector3D vel;                               // 速度  
37.     Vector3D force;                             // 力  
38. };  
39.   
40. #endif // MASS_H  

/*
Copyright: 2012, ustc All rights reserved.
contact:k283228391@126.com
File name: mass.h
Description:Particle in Physical
Author:Silang Quan
Version: 1.0
Date: 2012.12.21
*/
#ifndef MASS_H
#define MASS_H
#include "vector3d.h"

class Mass
{
    public:
        Mass();
        Mass(float _m,float _size){m=_m;size=_size;};
        void init();
        void simulate(float dt);
        void checkBnd(float x1,float x2,float y1,float y2);
        void setForce(Vector3D _force){force=_force;};
        void setVel(Vector3D _vel){vel=_vel;};
        virtual ~Mass();
        inline Vector3D getPos(){return pos;};
        inline Vector3D getVel(){return vel;};
        inline Vector3D getForce(){return force;};
        inline float getSize(){return size;};


    protected:
    private:
    float size;                         //大小
	float m;							// 质量
	Vector3D pos;								// 位置
	Vector3D vel;								// 速度
	Vector3D force;								// 力
};

#endif // MASS_H

简单解释一下：质点主要有大小，质量，速度，受力这四个属性。除了一些getset方法外，最关键的是simulate和checkBnd连个方法，分别是模拟运动和边界检测，实现起来也比较简单。

[cpp] view plain copy print ?

1. /* 
2. Copyright: 2012, ustc All rights reserved. 
3. contact:k283228391@126.com 
4. File name: mass.cpp 
5. Description:Particle in Physical 
6. Author:Silang Quan 
7. Version: 1.0 
8. Date: 2012.12.21 
9. */  
10. #include "mass.h"  
11.   
12. Mass::Mass()  
13. {  
14.     //ctor  
15. }  
16. void Mass::init()  
17. {  
18.     force=Vector3D::zero();  
19.     vel=Vector3D::zero();  
20. }  
21. void Mass::simulate(float dt)  
22. {  
23.     Vector3D acl=force/m;  
24.     vel=vel+acl*dt;  
25.     pos=pos+vel*dt;  
26. }  
27. Mass::~Mass()  
28. {  
29.     //dtor  
30. }  
31. void Mass::checkBnd(float x1,float x2,float y1,float y2)  
32. {  
33.     if (pos.x - size < x1 || pos.x +size > x2) vel.x = -vel.x;  
34.     if (pos.y - size < y1 || pos.y + size > y2) vel.y = -vel.y;  
35. }  

/*
Copyright: 2012, ustc All rights reserved.
contact:k283228391@126.com
File name: mass.cpp
Description:Particle in Physical
Author:Silang Quan
Version: 1.0
Date: 2012.12.21
*/
#include "mass.h"

Mass::Mass()
{
    //ctor
}
void Mass::init()
{
    force=Vector3D::zero();
    vel=Vector3D::zero();
}
void Mass::simulate(float dt)
{
    Vector3D acl=force/m;
    vel=vel+acl*dt;
    pos=pos+vel*dt;
}
Mass::~Mass()
{
    //dtor
}
void Mass::checkBnd(float x1,float x2,float y1,float y2)
{
    if (pos.x - size < x1 || pos.x +size > x2) vel.x = -vel.x;
    if (pos.y - size < y1 || pos.y + size > y2) vel.y = -vel.y;
}

在simulate函数中我们用到了运动学的公式：a=F/m,Vt=Vo+at.deltaS=at^2.

接下来我们就可以来进行模拟了！

首先在main.cpp中声明几个全局变量：

[cpp] view plain copy print ?

1. GLUquadricObj *mySphere;  
2. Mass constVelBall;  
3. Mass gravityBall;  
4. Mass springBall;  

GLUquadricObj *mySphere;
Mass constVelBall;
Mass gravityBall;
Mass springBall;

GLUquadricObj是二次曲面对象的声明类，后面三个是声明三个质点。

接下来是对三个质点的初始化：

[cpp] view plain copy print ?

1. void initMasses()  
2. {  
3.     constVelBall=Mass(5.0,3);  
4.     constVelBall.init();  
5.     constVelBall.setVel(Vector3D(3.0,5.0,0.0));  
6.   
7.     gravityBall=Mass(5.0,2);  
8.     gravityBall.init();  
9.     gravityBall.setVel(Vector3D(-1.0,0.0,0.0));  
10.     gravityBall.setForce(Vector3D(0.0,-2.0,0.0));  
11.   
12.     springBall=Mass(5.0,4);  
13.     springBall.init();  
14.     springBall.setVel(Vector3D(2.0,0.0,2.0));  
15. }  

void initMasses()
{
    constVelBall=Mass(5.0,3);
    constVelBall.init();
    constVelBall.setVel(Vector3D(3.0,5.0,0.0));

    gravityBall=Mass(5.0,2);
    gravityBall.init();
    gravityBall.setVel(Vector3D(-1.0,0.0,0.0));
    gravityBall.setForce(Vector3D(0.0,-2.0,0.0));

    springBall=Mass(5.0,4);
    springBall.init();
    springBall.setVel(Vector3D(2.0,0.0,2.0));
}

然后是模拟检测：

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1. void simulateCheck()  
2. {  
3.     Vector3D connectionPos = Vector3D(0.0f, 0.0f, 0.0f);  
4.     constVelBall.simulate(0.1);  
5.     constVelBall.checkBnd(-20,20,-20,20);  
6.     gravityBall.simulate(0.1);  
7.     gravityBall.checkBnd(-20,20,-20,20);  
8.   
9.     springBall.simulate(0.1);  
10.     Vector3D springVector = springBall.getPos() - connectionPos;  
11.     springBall.setForce(springVector*(-0.1));  
12. }  

void simulateCheck()
{
    Vector3D connectionPos = Vector3D(0.0f, 0.0f, 0.0f);
    constVelBall.simulate(0.1);
    constVelBall.checkBnd(-20,20,-20,20);
    gravityBall.simulate(0.1);
    gravityBall.checkBnd(-20,20,-20,20);

    springBall.simulate(0.1);
    Vector3D springVector = springBall.getPos() - connectionPos;
    springBall.setForce(springVector*(-0.1));
}

这两个函数在main中进行调用。

还需要添加一个绘制质点的函数。我们用球体来代表质点，Mass中的size域就用来做半径。

[cpp] view plain copy print ?

1. void drawMass(Mass m)  
2. {  
3.     Vector3D tmp=m.getPos();  
4.     glPushMatrix();  
5.     glTranslatef(tmp.x,tmp.y,tmp.z);  
6.     gluSphere(mySphere,m.getSize(), 32, 16);  
7.     glPopMatrix();  
8. }  

void drawMass(Mass m)
{
    Vector3D tmp=m.getPos();
    glPushMatrix();
    glTranslatef(tmp.x,tmp.y,tmp.z);
    gluSphere(mySphere,m.getSize(), 32, 16);
    glPopMatrix();
}

最后来看渲染函数：

[cpp] view plain copy print ?

1. void renderGL()  
2. {  
3.     // Clear the color and depth buffers.  
4.     glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );  
5.     // We don't want to modify the projection matrix. */  
6.     glMatrixMode( GL_MODELVIEW );  
7.     glLoadIdentity( );  
8.     // Move down the z-axis.  
9.     glTranslatef(0.0f,0.0f,-35.0f);  
10.     glColor3ub(0, 0, 255);                                      // Draw In Blue  
11.     glBegin(GL_LINES);  
12.     // Draw The Vertical Lines  
13.     for (float x = -20; x <= 20; x += 2.0f)                      // x += 1.0f Stands For 1 Meter Of Space In This Example  
14.     {  
15.         glVertex3f(x, 20, 0);  
16.         glVertex3f(x,-20, 0);  
17.     }  
18.     // Draw The Horizontal Lines  
19.     for (float y = -20; y <= 20; y += 2.0f)                      // y += 1.0f Stands For 1 Meter Of Space In This Example  
20.     {  
21.         glVertex3f( 20, y, 0);  
22.         glVertex3f(-20, y, 0);  
23.     }  
24.     glEnd();  
25.     glColor3ub(0,255, 255);  
26.     drawMass(constVelBall);  
27.     glColor3ub(255,0, 255);  
28.     drawMass(gravityBall);  
29.     glColor3ub(255,255,0);  
30.     drawMass(springBall);  
31.     SDL_GL_SwapBuffers( );  
32. }  

void renderGL()
{
	// Clear the color and depth buffers.
	glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
	// We don't want to modify the projection matrix. */
	glMatrixMode( GL_MODELVIEW );
	glLoadIdentity( );
	// Move down the z-axis.
	glTranslatef(0.0f,0.0f,-35.0f);
    glColor3ub(0, 0, 255);										// Draw In Blue
	glBegin(GL_LINES);
	// Draw The Vertical Lines
	for (float x = -20; x <= 20; x += 2.0f)						// x += 1.0f Stands For 1 Meter Of Space In This Example
	{
		glVertex3f(x, 20, 0);
		glVertex3f(x,-20, 0);
	}
	// Draw The Horizontal Lines
	for (float y = -20; y <= 20; y += 2.0f)						// y += 1.0f Stands For 1 Meter Of Space In This Example
	{
		glVertex3f( 20, y, 0);
		glVertex3f(-20, y, 0);
	}
	glEnd();
	glColor3ub(0,255, 255);
	drawMass(constVelBall);
    glColor3ub(255,0, 255);
    drawMass(gravityBall);
    glColor3ub(255,255,0);
    drawMass(springBall);
	SDL_GL_SwapBuffers( );
}

先渲染一些网格，然后对质点进行渲染。

最后的效果就像这样：

源码下载