reactphysics3d/examples/common/Dumbbell.cpp

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/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
* Copyright (c) 2010-2014 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 "Dumbbell.h"
// Constructor
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
: openglframework::Mesh() {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
// Calculate the normals of the mesh
calculateNormals();
// Identity scaling matrix
mScalingMatrix.setToIdentity();
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Create a sphere collision shape for the two ends of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
const rp3d::decimal massSphere = rp3d::decimal(2.0);
const rp3d::SphereShape sphereCollisionShape(radiusSphere);
// Create a cylinder collision shape for the middle of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
const rp3d::decimal massCylinder = rp3d::decimal(1.0);
const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
rp3d::Transform transformBody(initPosition, initOrientation);
// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the second sphere collision shape of the dumbell (in local-space)
rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the cylinder collision shape of the dumbell (in local-space)
rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
// Create a rigid body corresponding to the dumbbell in the dynamics world
mRigidBody = dynamicsWorld->createRigidBody(transformBody);
// Add the three collision shapes to the body and specify the mass and transform of the shapes
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mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape1);
mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape2);
mRigidBody->addCollisionShape(cylinderCollisionShape, massCylinder, transformCylinderShape);
}
// Destructor
Dumbbell::~Dumbbell() {
// Destroy the mesh
destroy();
}
// Render the sphere at the correct position and with the correct orientation
void Dumbbell::render(openglframework::Shader& shader,
const openglframework::Matrix4& worldToCameraMatrix) {
// Bind the shader
shader.bind();
// Set the model to camera matrix
const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
// model-view matrix)
const openglframework::Matrix3 normalMatrix =
localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_NORMAL_ARRAY);
if (hasTexture()) {
glEnableClientState(GL_TEXTURE_COORD_ARRAY);
}
glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
if(hasTexture()) {
glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
}
// For each part of the mesh
for (unsigned int i=0; i<getNbParts(); i++) {
glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
GL_UNSIGNED_INT, getIndicesPointer());
}
glDisableClientState(GL_NORMAL_ARRAY);
glDisableClientState(GL_VERTEX_ARRAY);
if (hasTexture()) {
glDisableClientState(GL_TEXTURE_COORD_ARRAY);
}
// Unbind the shader
shader.unbind();
}
// Update the transform matrix of the sphere
void Dumbbell::updateTransform() {
// Get the interpolated transform of the rigid body
rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
// Compute the transform used for rendering the sphere
float matrix[16];
transform.getOpenGLMatrix(matrix);
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
matrix[1], matrix[5], matrix[9], matrix[13],
matrix[2], matrix[6], matrix[10], matrix[14],
matrix[3], matrix[7], matrix[11], matrix[15]);
// Apply the scaling matrix to have the correct sphere dimensions
mTransformMatrix = newMatrix * mScalingMatrix;
}