reactphysics3d/testbed/common/Capsule.h

/********************************************************************************
 * ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
 * Copyright (c) 2010-2016 Daniel Chappuis                                       *
 *********************************************************************************
 *                                                                               *
 * This software is provided 'as-is', without any express or implied warranty.   *
 * In no event will the authors be held liable for any damages arising from the  *
 * use of this software.                                                         *
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 * including commercial applications, and to alter it and redistribute it        *
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 *                                                                               *
 * 1. The origin of this software must not be misrepresented; you must not claim *
 *    that you wrote the original software. If you use this software in a        *
 *    product, an acknowledgment in the product documentation would be           *
 *    appreciated but is not required.                                           *
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 * 2. Altered source versions must be plainly marked as such, and must not be    *
 *    misrepresented as being the original software.                             *
 *                                                                               *
 * 3. This notice may not be removed or altered from any source distribution.    *
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#ifndef CAPSULE_H
#define CAPSULE_H

// Libraries
#include "openglframework.h"
#include "reactphysics3d.h"
#include "PhysicsObject.h"

// Class Sphere
class Capsule : public openglframework::Mesh, public PhysicsObject {

	private :

		// -------------------- Attributes -------------------- //

		/// Radius of the capsule
		float mRadius;

		/// Height of the capsule
		float mHeight;

		/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
		openglframework::Matrix4 mScalingMatrix;

        /// Collision shape
        rp3d::CapsuleShape* mCapsuleShape;
        rp3d::ProxyShape* mProxyShape;

		/// Previous transform (for interpolation)
		rp3d::Transform mPreviousTransform;

		/// Vertex Buffer Object for the vertices data
		static openglframework::VertexBufferObject mVBOVertices;

		/// Vertex Buffer Object for the normals data
		static openglframework::VertexBufferObject mVBONormals;

		/// Vertex Buffer Object for the texture coords
		static openglframework::VertexBufferObject mVBOTextureCoords;

		/// Vertex Buffer Object for the indices
		static openglframework::VertexBufferObject mVBOIndices;

		/// Vertex Array Object for the vertex data
		static openglframework::VertexArrayObject mVAO;

		// Total number of capsules created
		static int totalNbCapsules;

		// -------------------- Methods -------------------- //

		// Create the Vertex Buffer Objects used to render with OpenGL.
		void createVBOAndVAO();

	public :

		// -------------------- Methods -------------------- //

		/// Constructor
		Capsule(float radius, float height, const openglframework::Vector3& position,
				reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);

		/// Constructor
		Capsule(float radius, float height, const openglframework::Vector3& position,
				float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
				const std::string& meshFolderPath);

		/// Destructor
		~Capsule();

		/// Render the sphere at the correct position and with the correct orientation
		void render(openglframework::Shader& shader,
				const openglframework::Matrix4& worldToCameraMatrix);

		/// Set the position of the box
		void resetTransform(const rp3d::Transform& transform);

        /// Update the transform matrix of the object
        virtual void updateTransform(float interpolationFactor) override;

        /// Set the scaling of the object
        void setScaling(const openglframework::Vector3& scaling);
};

// Update the transform matrix of the object
inline void Capsule::updateTransform(float interpolationFactor) {
	mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}

#endif