reactphysics3d/testbed/scenes/raycast/RaycastScene.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 "RaycastScene.h"
// Namespaces
using namespace openglframework;
using namespace raycastscene;
// Constructor
RaycastScene::RaycastScene(const std::string& name)
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: SceneDemo(name, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
mRaycastManager(mPhongShader, mMeshFolderPath), mCurrentBodyIndex(-1),
mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) {
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mIsContactPointsDisplayed = true;
// Compute the radius and the center of the scene
openglframework::Vector3 center(0, 0, 0);
// Set the center of the scene
setScenePosition(center, SCENE_RADIUS);
// Create the dynamics world for the physics simulation
mCollisionWorld = new rp3d::CollisionWorld();
// ---------- Dumbbell ---------- //
openglframework::Vector3 position1(0, 0, 0);
// Create a convex mesh and a corresponding collision body in the dynamics world
mDumbbell = new Dumbbell(position1, mCollisionWorld, mMeshFolderPath);
// Set the box color
mDumbbell->setColor(mGreyColorDemo);
mDumbbell->setSleepingColor(mRedColorDemo);
// ---------- Box ---------- //
openglframework::Vector3 position2(0, 0, 0);
// Create a box and a corresponding collision body in the dynamics world
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mBox = new Box(BOX_SIZE, position2, mCollisionWorld);
mBox->getCollisionBody()->setIsActive(false);
// Set the box color
mBox->setColor(mGreyColorDemo);
mBox->setSleepingColor(mRedColorDemo);
// ---------- Sphere ---------- //
openglframework::Vector3 position3(0, 0, 0);
// Create a sphere and a corresponding collision body in the dynamics world
mSphere = new Sphere(SPHERE_RADIUS, position3, mCollisionWorld,
mMeshFolderPath);
// Set the color
mSphere->setColor(mGreyColorDemo);
mSphere->setSleepingColor(mRedColorDemo);
// ---------- Cone ---------- //
openglframework::Vector3 position4(0, 0, 0);
// Create a cone and a corresponding collision body in the dynamics world
mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
mMeshFolderPath);
// Set the color
mCone->setColor(mGreyColorDemo);
mCone->setSleepingColor(mRedColorDemo);
// ---------- Cylinder ---------- //
openglframework::Vector3 position5(0, 0, 0);
// Create a cylinder and a corresponding collision body in the dynamics world
mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
mCollisionWorld, mMeshFolderPath);
// Set the color
mCylinder->setColor(mGreyColorDemo);
mCylinder->setSleepingColor(mRedColorDemo);
// ---------- Capsule ---------- //
openglframework::Vector3 position6(0, 0, 0);
// Create a cylinder and a corresponding collision body in the dynamics world
mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position6 ,
mCollisionWorld, mMeshFolderPath);
// Set the color
mCapsule->setColor(mGreyColorDemo);
mCapsule->setSleepingColor(mRedColorDemo);
// ---------- Convex Mesh ---------- //
openglframework::Vector3 position7(0, 0, 0);
// Create a convex mesh and a corresponding collision body in the dynamics world
mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj");
// Set the color
mConvexMesh->setColor(mGreyColorDemo);
mConvexMesh->setSleepingColor(mRedColorDemo);
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// ---------- Concave Mesh ---------- //
openglframework::Vector3 position8(0, 0, 0);
// Create a convex mesh and a corresponding collision body in the dynamics world
mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath + "city.obj");
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// Set the color
mConcaveMesh->setColor(mGreyColorDemo);
mConcaveMesh->setSleepingColor(mRedColorDemo);
// ---------- Heightfield ---------- //
openglframework::Vector3 position9(0, 0, 0);
// Create a convex mesh and a corresponding collision body in the dynamics world
mHeightField = new HeightField(position9, mCollisionWorld);
// Set the color
mHeightField->setColor(mGreyColorDemo);
mHeightField->setSleepingColor(mRedColorDemo);
// Create the lines that will be used for raycasting
createLines();
// Create the VBO and VAO to render the lines
createVBOAndVAO(mPhongShader);
changeBody();
}
// Create the raycast lines
void RaycastScene::createLines() {
int nbRaysOneDimension = std::sqrt(float(NB_RAYS));
for (int i=0; i<nbRaysOneDimension; i++) {
for (int j=0; j<nbRaysOneDimension; j++) {
float theta = i * 2.0f * PI / float(nbRaysOneDimension);
float phi = j * PI / float(nbRaysOneDimension);
// Generate a point on a sphere with spherical coordinates
float x = RAY_LENGTH * std::sin(phi) * std::cos(theta);
float y = RAY_LENGTH * std::sin(phi) * std::sin(theta);
float z = RAY_LENGTH * std::cos(phi);
// Create a line from the point on the sphere to the center of
// the scene
openglframework::Vector3 point1(x, y, z);
openglframework::Vector3 point2(0.0f, 0.0f, 0.0f);
Line* line = new Line(point1, point2);
mLines.push_back(line);
mLinePoints.push_back(point1);
mLinePoints.push_back(point2);
}
}
}
// Change the body to raycast and to display
void RaycastScene::changeBody() {
mCurrentBodyIndex++;
if (mCurrentBodyIndex >= NB_BODIES) mCurrentBodyIndex = 0;
mSphere->getCollisionBody()->setIsActive(false);
mBox->getCollisionBody()->setIsActive(false);
mCone->getCollisionBody()->setIsActive(false);
mCylinder->getCollisionBody()->setIsActive(false);
mCapsule->getCollisionBody()->setIsActive(false);
mConvexMesh->getCollisionBody()->setIsActive(false);
mDumbbell->getCollisionBody()->setIsActive(false);
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mConcaveMesh->getCollisionBody()->setIsActive(false);
mHeightField->getCollisionBody()->setIsActive(false);
switch(mCurrentBodyIndex) {
case 0: mSphere->getCollisionBody()->setIsActive(true);
break;
case 1: mBox->getCollisionBody()->setIsActive(true);
break;
case 2: mCone->getCollisionBody()->setIsActive(true);
break;
case 3: mCylinder->getCollisionBody()->setIsActive(true);
break;
case 4: mCapsule->getCollisionBody()->setIsActive(true);
break;
case 5: mConvexMesh->getCollisionBody()->setIsActive(true);
break;
case 6: mDumbbell->getCollisionBody()->setIsActive(true);
break;
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case 7: mConcaveMesh->getCollisionBody()->setIsActive(true);
break;
case 8: mHeightField->getCollisionBody()->setIsActive(true);
break;
}
}
// Reset the scene
void RaycastScene::reset() {
}
// Destructor
RaycastScene::~RaycastScene() {
// Destroy the shader
mPhongShader.destroy();
// Destroy the box rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody());
delete mBox;
// Destroy the sphere
mCollisionWorld->destroyCollisionBody(mSphere->getCollisionBody());
delete mSphere;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
delete mCone;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
// Destroy the sphere
delete mCylinder;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
// Destroy the sphere
delete mCapsule;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
// Destroy the convex mesh
delete mConvexMesh;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
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// Destroy the dumbbell
delete mDumbbell;
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// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
// Destroy the convex mesh
delete mConcaveMesh;
// Destroy the corresponding rigid body from the dynamics world
mCollisionWorld->destroyCollisionBody(mHeightField->getCollisionBody());
// Destroy the convex mesh
delete mHeightField;
mRaycastManager.resetPoints();
// Destroy the static data for the visual contact points
VisualContactPoint::destroyStaticData();
// Destroy the collision world
delete mCollisionWorld;
// Destroy the lines
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
++it) {
delete (*it);
}
// Destroy the VBOs and VAO
mVBOVertices.destroy();
mVAO.destroy();
}
// Update the physics world (take a simulation step)
void RaycastScene::updatePhysics() {
}
// Take a step for the simulation
void RaycastScene::update() {
mRaycastManager.resetPoints();
// For each line of the scene
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
++it) {
Line* line = *it;
// Create a ray corresponding to the line
openglframework::Vector3 p1 = line->getPoint1();
openglframework::Vector3 p2 = line->getPoint2();
rp3d::Vector3 point1(p1.x, p1.y, p1.z);
rp3d::Vector3 point2(p2.x, p2.y, p2.z);
rp3d::Ray ray(point1, point2);
// Perform a raycast query on the physics world by passing a raycast
// callback class in argument.
mCollisionWorld->raycast(ray, &mRaycastManager);
}
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SceneDemo::update();
}
// Render the scene
void RaycastScene::renderSinglePass(openglframework::Shader& shader,
const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the VAO
mVAO.bind();
// Bind the shader
shader.bind();
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mVBOVertices.bind();
// Set the model to camera matrix
const Matrix4 localToCameraMatrix = Matrix4::identity();
shader.setMatrix4x4Uniform("localToWorldMatrix", localToCameraMatrix);
shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
// 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, false);
// Set the vertex color
openglframework::Vector4 color(1, 0, 0, 1);
shader.setVector4Uniform("vertexColor", color, false);
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// Get the location of shader attribute variables
GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
glEnableVertexAttribArray(vertexPositionLoc);
glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
// Draw the lines
glDrawArrays(GL_LINES, 0, NB_RAYS);
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glDisableVertexAttribArray(vertexPositionLoc);
mVBOVertices.unbind();
// Unbind the VAO
mVAO.unbind();
shader.unbind();
// Render the shapes
if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);
if (mSphere->getCollisionBody()->isActive()) mSphere->render(shader, worldToCameraMatrix);
if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix);
if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix);
if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix);
if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix);
if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix);
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if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix);
if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix);
shader.unbind();
}
// Create the Vertex Buffer Objects used to render with OpenGL.
/// We create two VBOs (one for vertices and one for indices)
void RaycastScene::createVBOAndVAO(openglframework::Shader& shader) {
// Bind the shader
shader.bind();
// Create the VBO for the vertices data
mVBOVertices.create();
mVBOVertices.bind();
size_t sizeVertices = mLinePoints.size() * sizeof(openglframework::Vector3);
mVBOVertices.copyDataIntoVBO(sizeVertices, &mLinePoints[0], GL_STATIC_DRAW);
mVBOVertices.unbind();
// Create the VAO for both VBOs
mVAO.create();
mVAO.bind();
// Bind the VBO of vertices
mVBOVertices.bind();
// Unbind the VAO
mVAO.unbind();
// Unbind the shader
shader.unbind();
}
// Called when a keyboard event occurs
bool RaycastScene::keyboardEvent(int key, int scancode, int action, int mods) {
// If the space key has been pressed
if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
changeBody();
return true;
}
return false;
}