reactphysics3d/testbed/common/Capsule.h

/********************************************************************************
* ReactPhysics3D physics library, http://www.reactphysics3d.com                 *
* Copyright (c) 2010-2015 Daniel Chappuis                                       *
*********************************************************************************
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* This software is provided 'as-is', without any express or implied warranty.   *
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* use of this software.                                                         *
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* 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.                                           *
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*    misrepresented as being the original software.                             *
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* 3. This notice may not be removed or altered from any source distribution.    *
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********************************************************************************/

#ifndef CAPSULE_H
#define CAPSULE_H

// Libraries
#include "openglframework.h"
#include "reactphysics3d.h"
#include "PhysicsObject.h"

// Class Sphere
class Capsule : public openglframework::Mesh, public PhysicsObject {

    private :

        // -------------------- Attributes -------------------- //

        /// Radius of the capsule
        float mRadius;

        /// Height of the capsule
        float mHeight;

        /// Collision shape
        rp3d::CapsuleShape* mCapsuleShape;
        rp3d::ProxyShape* mProxyShape;

        /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
        openglframework::Matrix4 mScalingMatrix;

        /// Previous transform (for interpolation)
        rp3d::Transform mPreviousTransform;

        /// Vertex Buffer Object for the vertices data
        static openglframework::VertexBufferObject mVBOVertices;

        /// Vertex Buffer Object for the normals data
        static openglframework::VertexBufferObject mVBONormals;

        /// Vertex Buffer Object for the texture coords
        static openglframework::VertexBufferObject mVBOTextureCoords;

        /// Vertex Buffer Object for the indices
        static openglframework::VertexBufferObject mVBOIndices;

        /// Vertex Array Object for the vertex data
        static openglframework::VertexArrayObject mVAO;

        // Total number of capsules created
        static int totalNbCapsules;

        // -------------------- Methods -------------------- //

        // Create the Vertex Buffer Objects used to render with OpenGL.
        void createVBOAndVAO();

    public :

        // -------------------- Methods -------------------- //

        /// Constructor
        Capsule(float radius, float height, const openglframework::Vector3& position,
                reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);

        /// Constructor
        Capsule(float radius, float height, const openglframework::Vector3& position,
                float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
                const std::string& meshFolderPath);

        /// Destructor
        ~Capsule();

        /// Render the sphere at the correct position and with the correct orientation
        void render(openglframework::Shader& shader,
                    const openglframework::Matrix4& worldToCameraMatrix);

        /// Set the position of the box
        void resetTransform(const rp3d::Transform& transform);

        /// Update the transform matrix of the object
        virtual void updateTransform(float interpolationFactor);

        /// Set the scaling of the object
        void setScaling(const openglframework::Vector3& scaling);
};

// Update the transform matrix of the object
inline void Capsule::updateTransform(float interpolationFactor) {
    mTransformMatrix = computeTransform(interpolationFactor, mScalingMatrix);
}

#endif