2015-04-08 18:47:55 +00:00
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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2016-04-11 18:15:20 +00:00
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* Copyright (c) 2010-2016 Daniel Chappuis *
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2015-04-08 18:47:55 +00:00
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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2015-04-15 21:11:27 +00:00
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#ifndef RAYCAST_SCENE_H
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#define RAYCAST_SCENE_H
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2015-04-08 18:47:55 +00:00
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// Libraries
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include "openglframework.h"
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#include "reactphysics3d.h"
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#include "SceneDemo.h"
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#include "Sphere.h"
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#include "Box.h"
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#include "Capsule.h"
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#include "Line.h"
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#include "ConvexMesh.h"
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#include "ConcaveMesh.h"
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#include "HeightField.h"
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#include "Dumbbell.h"
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#include "VisualContactPoint.h"
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namespace raycastscene {
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// Constants
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const float SCENE_RADIUS = 30.0f;
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const openglframework::Vector3 BOX_SIZE(4, 2, 1);
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const float SPHERE_RADIUS = 3.0f;
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const float CONE_RADIUS = 3.0f;
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const float CONE_HEIGHT = 5.0f;
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const float CYLINDER_RADIUS = 3.0f;
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const float CYLINDER_HEIGHT = 5.0f;
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const float CAPSULE_RADIUS = 3.0f;
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const float CAPSULE_HEIGHT = 5.0f;
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const float DUMBBELL_HEIGHT = 5.0f;
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const int NB_RAYS = 100;
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const float RAY_LENGTH = 30.0f;
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const int NB_BODIES = 7;
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// Raycast manager
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class RaycastManager : public rp3d::RaycastCallback {
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private:
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/// All the visual contact points
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std::vector<ContactPoint> mHitPoints;
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/// All the normals at hit points
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std::vector<Line*> mNormals;
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2015-06-25 20:28:11 +00:00
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/// Contact point mesh folder path
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std::string mMeshFolderPath;
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public:
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RaycastManager(openglframework::Shader& shader,
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const std::string& meshFolderPath)
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: mMeshFolderPath(meshFolderPath) {
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}
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virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override {
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rp3d::Vector3 n = raycastInfo.worldNormal;
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openglframework::Vector3 normal(n.x, n.y, n.z);
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rp3d::Vector3 hitPos = raycastInfo.worldPoint;
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openglframework::Vector3 position(hitPos.x, hitPos.y, hitPos.z);
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mHitPoints.push_back(ContactPoint(position, normal, openglframework::Color::red()));
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// Create a line to display the normal at hit point
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// TODO : Remove the mNormals because the VisualContactPoint is now able to display the contact normal on its own
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Line* normalLine = new Line(position, position + normal);
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mNormals.push_back(normalLine);
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return raycastInfo.hitFraction;
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}
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void resetPoints() {
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mHitPoints.clear();
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// Destroy all the normals
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for (std::vector<Line*>::iterator it = mNormals.begin();
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it != mNormals.end(); ++it) {
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delete (*it);
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}
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mNormals.clear();
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}
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std::vector<ContactPoint> getHitPoints() const {
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return mHitPoints;
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}
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};
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// Class RaycastScene
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class RaycastScene : public SceneDemo {
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private :
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// -------------------- Attributes -------------------- //
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/// Contact point mesh folder path
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std::string mMeshFolderPath;
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/// Raycast manager
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RaycastManager mRaycastManager;
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/// All the raycast lines
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std::vector<Line*> mLines;
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/// Current body index
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int mCurrentBodyIndex;
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/// True if the hit points normals are displayed
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bool mAreNormalsDisplayed;
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/// All objects on the scene
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Box* mBox;
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Sphere* mSphere;
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Capsule* mCapsule;
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ConvexMesh* mConvexMesh;
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Dumbbell* mDumbbell;
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ConcaveMesh* mConcaveMesh;
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HeightField* mHeightField;
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/// All the points to render the lines
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std::vector<openglframework::Vector3> mLinePoints;
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/// Vertex Buffer Object for the vertices data
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openglframework::VertexBufferObject mVBOVertices;
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/// Vertex Array Object for the vertex data
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openglframework::VertexArrayObject mVAO;
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/// Create the raycast lines
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void createLines();
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// Create the Vertex Buffer Objects used to render with OpenGL.
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void createVBOAndVAO();
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public:
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// -------------------- Methods -------------------- //
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/// Constructor
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RaycastScene(const std::string& name, EngineSettings& settings);
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/// Destructor
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virtual ~RaycastScene() override;
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/// Take a step for the simulation
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virtual void update() override;
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/// Render the scene in a single pass
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virtual void renderSinglePass(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) override;
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/// Reset the scene
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virtual void reset() override;
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/// Change the body to raycast
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void changeBody();
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/// Display or not the surface normals at hit points
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void showHideNormals();
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/// Called when a keyboard event occurs
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virtual bool keyboardEvent(int key, int scancode, int action, int mods) override;
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/// Enabled/Disable the shadow mapping
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virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override;
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/// Display/Hide the contact points
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virtual void setIsContactPointsDisplayed(bool display) override;
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/// Return all the contact points of the scene
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virtual std::vector<ContactPoint> getContactPoints() const override;
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};
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// Display or not the surface normals at hit points
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inline void RaycastScene::showHideNormals() {
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mAreNormalsDisplayed = !mAreNormalsDisplayed;
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}
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2015-08-06 19:06:35 +00:00
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// Enabled/Disable the shadow mapping
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inline void RaycastScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) {
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SceneDemo::setIsShadowMappingEnabled(false);
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}
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2015-08-11 16:32:45 +00:00
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// Display/Hide the contact points
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inline void RaycastScene::setIsContactPointsDisplayed(bool display) {
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SceneDemo::setIsContactPointsDisplayed(true);
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}
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// Return all the contact points of the scene
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inline std::vector<ContactPoint> RaycastScene::getContactPoints() const {
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return mRaycastManager.getHitPoints();
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}
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}
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#endif
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