reactphysics3d/testbed/scenes/raycast/RaycastScene.h

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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. *
* *
********************************************************************************/
#ifndef RAYCAST_SCENE_H
#define RAYCAST_SCENE_H
// Libraries
#define _USE_MATH_DEFINES
#include <cmath>
#include "openglframework.h"
#include "reactphysics3d.h"
#include "SceneDemo.h"
#include "Sphere.h"
#include "Box.h"
#include "Cone.h"
#include "Cylinder.h"
#include "Capsule.h"
#include "Line.h"
#include "ConvexMesh.h"
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#include "ConcaveMesh.h"
#include "HeightField.h"
#include "Dumbbell.h"
#include "VisualContactPoint.h"
namespace raycastscene {
// Constants
const float SCENE_RADIUS = 30.0f;
const openglframework::Vector3 BOX_SIZE(4, 2, 1);
const float SPHERE_RADIUS = 3.0f;
const float CONE_RADIUS = 3.0f;
const float CONE_HEIGHT = 5.0f;
const float CYLINDER_RADIUS = 3.0f;
const float CYLINDER_HEIGHT = 5.0f;
const float CAPSULE_RADIUS = 3.0f;
const float CAPSULE_HEIGHT = 5.0f;
const float DUMBBELL_HEIGHT = 5.0f;
const int NB_RAYS = 100;
const float RAY_LENGTH = 30.0f;
const int NB_BODIES = 9;
// Raycast manager
class RaycastManager : public rp3d::RaycastCallback {
private:
/// All the visual contact points
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std::vector<ContactPoint> mHitPoints;
/// All the normals at hit points
std::vector<Line*> mNormals;
/// Contact point mesh folder path
std::string mMeshFolderPath;
public:
RaycastManager(openglframework::Shader& shader,
const std::string& meshFolderPath)
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: mMeshFolderPath(meshFolderPath) {
}
virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) override {
rp3d::Vector3 hitPos = raycastInfo.worldPoint;
openglframework::Vector3 position(hitPos.x, hitPos.y, hitPos.z);
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mHitPoints.push_back(ContactPoint(position));
// Create a line to display the normal at hit point
rp3d::Vector3 n = raycastInfo.worldNormal;
openglframework::Vector3 normal(n.x, n.y, n.z);
Line* normalLine = new Line(position, position + normal);
mNormals.push_back(normalLine);
return raycastInfo.hitFraction;
}
void resetPoints() {
mHitPoints.clear();
// Destroy all the normals
for (std::vector<Line*>::iterator it = mNormals.begin();
it != mNormals.end(); ++it) {
delete (*it);
}
mNormals.clear();
}
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std::vector<ContactPoint> getHitPoints() const {
return mHitPoints;
}
};
// Class RaycastScene
class RaycastScene : public SceneDemo {
private :
// -------------------- Attributes -------------------- //
/// Contact point mesh folder path
std::string mMeshFolderPath;
/// Raycast manager
RaycastManager mRaycastManager;
/// All the raycast lines
std::vector<Line*> mLines;
/// Current body index
int mCurrentBodyIndex;
/// True if the hit points normals are displayed
bool mAreNormalsDisplayed;
/// Raycast manager
/// All objects on the scene
Box* mBox;
Sphere* mSphere;
Cone* mCone;
Cylinder* mCylinder;
Capsule* mCapsule;
ConvexMesh* mConvexMesh;
Dumbbell* mDumbbell;
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ConcaveMesh* mConcaveMesh;
HeightField* mHeightField;
/// Collision world used for the physics simulation
rp3d::CollisionWorld* mCollisionWorld;
/// All the points to render the lines
std::vector<openglframework::Vector3> mLinePoints;
/// Vertex Buffer Object for the vertices data
openglframework::VertexBufferObject mVBOVertices;
/// Vertex Array Object for the vertex data
openglframework::VertexArrayObject mVAO;
/// Create the raycast lines
void createLines();
// Create the Vertex Buffer Objects used to render with OpenGL.
void createVBOAndVAO(openglframework::Shader& shader);
public:
// -------------------- Methods -------------------- //
/// Constructor
RaycastScene(const std::string& name);
/// Destructor
virtual ~RaycastScene() override;
/// Update the physics world (take a simulation step)
/// Can be called several times per frame
virtual void updatePhysics() override;
/// Take a step for the simulation
virtual void update() override;
/// Render the scene in a single pass
virtual void renderSinglePass(openglframework::Shader& shader,
const openglframework::Matrix4& worldToCameraMatrix) override;
/// Reset the scene
virtual void reset() override;
/// Change the body to raycast
void changeBody();
/// Display or not the surface normals at hit points
void showHideNormals();
/// Called when a keyboard event occurs
virtual bool keyboardEvent(int key, int scancode, int action, int mods) override;
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/// Enabled/Disable the shadow mapping
virtual void setIsShadowMappingEnabled(bool isShadowMappingEnabled) override;
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/// Display/Hide the contact points
virtual void setIsContactPointsDisplayed(bool display) override;
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/// Return all the contact points of the scene
virtual std::vector<ContactPoint> getContactPoints() const override;
};
// Display or not the surface normals at hit points
inline void RaycastScene::showHideNormals() {
mAreNormalsDisplayed = !mAreNormalsDisplayed;
}
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// Enabled/Disable the shadow mapping
inline void RaycastScene::setIsShadowMappingEnabled(bool isShadowMappingEnabled) {
SceneDemo::setIsShadowMappingEnabled(false);
}
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// Display/Hide the contact points
inline void RaycastScene::setIsContactPointsDisplayed(bool display) {
SceneDemo::setIsContactPointsDisplayed(true);
}
// Return all the contact points of the scene
inline std::vector<ContactPoint> RaycastScene::getContactPoints() const {
return mRaycastManager.getHitPoints();
}
}
#endif