reactphysics3d/testbed/common/HeightField.cpp

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/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com *
2016-04-11 18:15:20 +00:00
* 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. *
* *
* Permission is granted to anyone to use this software for any purpose, *
* including commercial applications, and to alter it and redistribute it *
* freely, subject to the following restrictions: *
* *
* 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. *
* *
* 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. *
* *
********************************************************************************/
// Libraries
#include "HeightField.h"
#include "PerlinNoise.h"
// Constructor
HeightField::HeightField(const openglframework::Vector3 &position,
reactphysics3d::CollisionWorld* world)
: openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER),
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4::identity();
// Generate the height field
generateHeightField();
// Generate the graphics mesh
generateGraphicsMesh();
// Create the collision shape for the rigid body (convex mesh shape) and
// do not forget to delete it at the end
mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
mHeightData, rp3d::HeightFieldShape::HEIGHT_FLOAT_TYPE);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
mPreviousTransform = transform;
// Create a rigid body corresponding to the sphere in the dynamics world
mBody = world->createCollisionBody(transform);
// Add a collision shape to the body and specify the mass of the collision shape
mProxyShape = mBody->addCollisionShape(mHeightFieldShape, rp3d::Transform::identity());
// Create the VBOs and VAO
createVBOAndVAO();
mTransformMatrix = mTransformMatrix * mScalingMatrix;
}
// Constructor
HeightField::HeightField(const openglframework::Vector3 &position, float mass,
reactphysics3d::DynamicsWorld* dynamicsWorld)
: openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER),
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Compute the scaling matrix
mScalingMatrix = openglframework::Matrix4::identity();
// Generate the height field
generateHeightField();
// Generate the graphics mesh
generateGraphicsMesh();
// Create the collision shape for the rigid body (convex mesh shape) and
// do not forget to delete it at the end
mHeightFieldShape = new rp3d::HeightFieldShape(NB_POINTS_WIDTH, NB_POINTS_LENGTH, mMinHeight, mMaxHeight,
mHeightData, rp3d::HeightFieldShape::HEIGHT_FLOAT_TYPE);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
rp3d::Transform transform(initPosition, initOrientation);
// Create a rigid body corresponding to the sphere in the dynamics world
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
// Add a collision shape to the body and specify the mass of the collision shape
mProxyShape = body->addCollisionShape(mHeightFieldShape, rp3d::Transform::identity(), mass);
mBody = body;
// Create the VBOs and VAO
createVBOAndVAO();
mTransformMatrix = mTransformMatrix * mScalingMatrix;
}
// Destructor
HeightField::~HeightField() {
// Destroy the mesh
destroy();
// Destroy the VBOs and VAO
mVBOIndices.destroy();
mVBOVertices.destroy();
mVBONormals.destroy();
mVBOTextureCoords.destroy();
mVAO.destroy();
delete mHeightFieldShape;
}
// Render the sphere at the correct position and with the correct orientation
void HeightField::render(openglframework::Shader& shader,
const openglframework::Matrix4& worldToCameraMatrix) {
// Bind the shader
shader.bind();
// Set the model to camera matrix
shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
// model-view matrix)
const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
const openglframework::Matrix3 normalMatrix =
localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
// Set the vertex color
openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
shader.setVector4Uniform("vertexColor", color, false);
// Bind the VAO
mVAO.bind();
mVBOVertices.bind();
// Get the location of shader attribute variables
GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);
glEnableVertexAttribArray(vertexPositionLoc);
glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
mVBONormals.bind();
if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
// For each part of the mesh
for (unsigned int i=0; i<getNbParts(); i++) {
glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)NULL);
}
glDisableVertexAttribArray(vertexPositionLoc);
if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);
mVBONormals.unbind();
mVBOVertices.unbind();
// Unbind the VAO
mVAO.unbind();
// Unbind the shader
shader.unbind();
}
// Compute the heights of the height field
void HeightField::generateHeightField() {
double persistence = 9;
double frequency = 0.28;
double amplitude = 12;
int octaves = 1;
int randomseed = 23;
PerlinNoise perlinNoise(persistence, frequency, amplitude, octaves, randomseed);
mMinHeight = 0;
mMaxHeight = 0;
float width = (NB_POINTS_WIDTH - 1);
float length = (NB_POINTS_LENGTH - 1);
for (int i=0; i<NB_POINTS_WIDTH; i++) {
for (int j=0; j<NB_POINTS_LENGTH; j++) {
int arrayIndex = j * NB_POINTS_WIDTH + i;
mHeightData[arrayIndex] = (float)(perlinNoise.GetHeight(-width * 0.5 + i, -length * 0.5 + j));
if (i==0 && j==0) {
mMinHeight = mHeightData[arrayIndex] ;
mMaxHeight = mHeightData[arrayIndex] ;
}
if (mHeightData[arrayIndex] > mMaxHeight) mMaxHeight = mHeightData[arrayIndex] ;
if (mHeightData[arrayIndex] < mMinHeight) mMinHeight = mHeightData[arrayIndex] ;
}
}
}
// Generate the graphics mesh to render the height field
void HeightField::generateGraphicsMesh() {
std::vector<unsigned int> indices;
int vertexId = 0;
for (int i=0; i<NB_POINTS_WIDTH; i++) {
for (int j=0; j<NB_POINTS_LENGTH; j++) {
float originHeight = -(mMaxHeight - mMinHeight) * 0.5f - mMinHeight;
float height = originHeight + mHeightData[j * NB_POINTS_WIDTH + i];
openglframework::Vector3 vertex(-(NB_POINTS_WIDTH - 1) * 0.5f + i, height, -(NB_POINTS_LENGTH - 1) * 0.5f + j);
mVertices.push_back(vertex);
// Triangle indices
if ((i < NB_POINTS_WIDTH - 1) && (j < NB_POINTS_LENGTH - 1)) {
unsigned int v1 = vertexId;
unsigned int v2 = vertexId + 1;
unsigned int v3 = vertexId + NB_POINTS_LENGTH;
unsigned int v4 = vertexId + NB_POINTS_LENGTH + 1;
// First triangle
indices.push_back(v1);
indices.push_back(v2);
indices.push_back(v3);
// Second triangle
indices.push_back(v2);
indices.push_back(v4);
indices.push_back(v3);
}
vertexId++;
}
}
mIndices.push_back(indices);
calculateNormals();
}
// Create the Vertex Buffer Objects used to render with OpenGL.
/// We create two VBOs (one for vertices and one for indices)
void HeightField::createVBOAndVAO() {
// Create the VBO for the vertices data
mVBOVertices.create();
mVBOVertices.bind();
size_t sizeVertices = mVertices.size() * sizeof(openglframework::Vector3);
mVBOVertices.copyDataIntoVBO(sizeVertices, getVerticesPointer(), GL_STATIC_DRAW);
mVBOVertices.unbind();
// Create the VBO for the normals data
mVBONormals.create();
mVBONormals.bind();
size_t sizeNormals = mNormals.size() * sizeof(openglframework::Vector3);
mVBONormals.copyDataIntoVBO(sizeNormals, getNormalsPointer(), GL_STATIC_DRAW);
mVBONormals.unbind();
if (hasTexture()) {
// Create the VBO for the texture co data
mVBOTextureCoords.create();
mVBOTextureCoords.bind();
size_t sizeTextureCoords = mUVs.size() * sizeof(openglframework::Vector2);
mVBOTextureCoords.copyDataIntoVBO(sizeTextureCoords, getUVTextureCoordinatesPointer(), GL_STATIC_DRAW);
mVBOTextureCoords.unbind();
}
// Create th VBO for the indices data
mVBOIndices.create();
mVBOIndices.bind();
size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int);
mVBOIndices.copyDataIntoVBO(sizeIndices, getIndicesPointer(), GL_STATIC_DRAW);
mVBOIndices.unbind();
// Create the VAO for both VBOs
mVAO.create();
mVAO.bind();
// Bind the VBO of vertices
mVBOVertices.bind();
// Bind the VBO of normals
mVBONormals.bind();
if (hasTexture()) {
// Bind the VBO of texture coords
mVBOTextureCoords.bind();
}
// Bind the VBO of indices
mVBOIndices.bind();
// Unbind the VAO
mVAO.unbind();
}
// Reset the transform
void HeightField::resetTransform(const rp3d::Transform& transform) {
// Reset the transform
mBody->setTransform(transform);
mBody->setIsSleeping(false);
// Reset the velocity of the rigid body
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
if (rigidBody != NULL) {
rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0));
rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0));
}
updateTransform(1.0f);
}
// Set the scaling of the object
void HeightField::setScaling(const openglframework::Vector3& scaling) {
// Scale the collision shape
mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
// Scale the graphics object
mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
0, scaling.y, 0,0,
0, 0, scaling.z, 0,
0, 0, 0, 1.0f);
}