217 lines
10 KiB
C++
217 lines
10 KiB
C++
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/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2015 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "Dumbbell.h"
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// Constructor
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Dumbbell::Dumbbell(const openglframework::Vector3 &position,
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reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
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: openglframework::Mesh() {
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
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// Calculate the normals of the mesh
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calculateNormals();
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// Identity scaling matrix
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mScalingMatrix.setToIdentity();
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Create a sphere collision shape for the two ends of the dumbbell
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
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const rp3d::decimal massSphere = rp3d::decimal(2.0);
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const rp3d::SphereShape sphereCollisionShape(radiusSphere);
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// Create a cylinder collision shape for the middle of the dumbbell
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
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const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
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const rp3d::decimal massCylinder = rp3d::decimal(1.0);
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const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
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rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
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rp3d::Transform transformBody(initPosition, initOrientation);
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// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
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rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
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// Initial transform of the second sphere collision shape of the dumbell (in local-space)
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rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
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// Initial transform of the cylinder collision shape of the dumbell (in local-space)
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rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
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// Create a rigid body corresponding to the dumbbell in the dynamics world
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rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transformBody);
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// Add the three collision shapes to the body and specify the mass and transform of the shapes
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body->addCollisionShape(sphereCollisionShape, transformSphereShape1, massSphere);
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body->addCollisionShape(sphereCollisionShape, transformSphereShape2, massSphere);
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body->addCollisionShape(cylinderCollisionShape, transformCylinderShape, massCylinder);
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mBody = body;
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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Dumbbell::Dumbbell(const openglframework::Vector3 &position,
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reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath)
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: openglframework::Mesh() {
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
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// Calculate the normals of the mesh
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calculateNormals();
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// Identity scaling matrix
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mScalingMatrix.setToIdentity();
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Create a sphere collision shape for the two ends of the dumbbell
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
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const rp3d::decimal massSphere = rp3d::decimal(2.0);
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const rp3d::SphereShape sphereCollisionShape(radiusSphere);
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// Create a cylinder collision shape for the middle of the dumbbell
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
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const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
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const rp3d::decimal massCylinder = rp3d::decimal(1.0);
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const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
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rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
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rp3d::Transform transformBody(initPosition, initOrientation);
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// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
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rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
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// Initial transform of the second sphere collision shape of the dumbell (in local-space)
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rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
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// Initial transform of the cylinder collision shape of the dumbell (in local-space)
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rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
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// Create a rigid body corresponding to the dumbbell in the dynamics world
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mBody = world->createCollisionBody(transformBody);
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// Add the three collision shapes to the body and specify the mass and transform of the shapes
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mBody->addCollisionShape(sphereCollisionShape, transformSphereShape1);
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mBody->addCollisionShape(sphereCollisionShape, transformSphereShape2);
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mBody->addCollisionShape(cylinderCollisionShape, transformCylinderShape);
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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Dumbbell::~Dumbbell() {
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// Destroy the mesh
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destroy();
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}
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// Render the sphere at the correct position and with the correct orientation
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void Dumbbell::render(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the shader
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shader.bind();
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// Set the model to camera matrix
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const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
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shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
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// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
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// model-view matrix)
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const openglframework::Matrix3 normalMatrix =
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localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
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shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
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glEnableClientState(GL_VERTEX_ARRAY);
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glEnableClientState(GL_NORMAL_ARRAY);
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if (hasTexture()) {
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glEnableClientState(GL_TEXTURE_COORD_ARRAY);
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}
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glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
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glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
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if(hasTexture()) {
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glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
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}
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// For each part of the mesh
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for (unsigned int i=0; i<getNbParts(); i++) {
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glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
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GL_UNSIGNED_INT, getIndicesPointer());
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}
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glDisableClientState(GL_NORMAL_ARRAY);
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glDisableClientState(GL_VERTEX_ARRAY);
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if (hasTexture()) {
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glDisableClientState(GL_TEXTURE_COORD_ARRAY);
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}
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// Unbind the shader
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shader.unbind();
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}
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// Update the transform matrix of the sphere
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void Dumbbell::updateTransform() {
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// Get the interpolated transform of the rigid body
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rp3d::Transform transform = mBody->getInterpolatedTransform();
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// Compute the transform used for rendering the sphere
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rp3d::decimal matrix[16];
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transform.getOpenGLMatrix(matrix);
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openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
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matrix[1], matrix[5], matrix[9], matrix[13],
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matrix[2], matrix[6], matrix[10], matrix[14],
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matrix[3], matrix[7], matrix[11], matrix[15]);
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// Apply the scaling matrix to have the correct sphere dimensions
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mTransformMatrix = newMatrix * mScalingMatrix;
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}
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