308 lines
12 KiB
C++
308 lines
12 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 "Scene.h"
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// Namespaces
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using namespace openglframework;
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// Constructor
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Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::string& meshFolderPath)
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: mViewer(viewer), mLight0(0), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false),
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mPhongShader(shaderFolderPath + "phong.vert",
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shaderFolderPath +"phong.frag") {
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// Move the light 0
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mLight0.translateWorld(Vector3(50, 50, 50));
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// Compute the radius and the center of the scene
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float radiusScene = 30.0f;
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openglframework::Vector3 center(0, 0, 0);
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// Set the center of the scene
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mViewer->setScenePosition(center, radiusScene);
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// Create the dynamics world for the physics simulation
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mCollisionWorld = new rp3d::CollisionWorld();
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// Create the static data for the visual contact points
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VisualContactPoint::createStaticData(meshFolderPath);
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// ---------- Dumbbell ---------- //
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openglframework::Vector3 position1(0, 0, 0);
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mDumbbell = new Dumbbell(position1, mCollisionWorld, meshFolderPath);
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// ---------- Box ---------- //
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openglframework::Vector3 position2(0, 0, 0);
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// Create a box and a corresponding collision body in the dynamics world
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mBox = new Box(BOX_SIZE, position2, mCollisionWorld);
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mBox->getCollisionBody()->setIsActive(false);
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// ---------- Sphere ---------- //
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openglframework::Vector3 position3(0, 0, 0);
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere = new Sphere(SPHERE_RADIUS, position3, mCollisionWorld,
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meshFolderPath);
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// ---------- Cone ---------- //
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openglframework::Vector3 position4(0, 0, 0);
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// Create a cone and a corresponding collision body in the dynamics world
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mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
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meshFolderPath);
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// ---------- Cylinder ---------- //
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openglframework::Vector3 position5(0, 0, 0);
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// Create a cylinder and a corresponding collision body in the dynamics world
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mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
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mCollisionWorld, meshFolderPath);
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// ---------- Capsule ---------- //
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openglframework::Vector3 position6(0, 0, 0);
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// Create a cylinder and a corresponding collision body in the dynamics world
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mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position6 ,
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mCollisionWorld, meshFolderPath);
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// ---------- Convex Mesh ---------- //
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openglframework::Vector3 position7(0, 0, 0);
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mConvexMesh = new ConvexMesh(position7, mCollisionWorld, meshFolderPath);
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// Create the lines that will be used for raycasting
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createLines();
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changeBody();
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}
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// Create the raycast lines
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void Scene::createLines() {
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int nbRaysOneDimension = std::sqrt(float(NB_RAYS));
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for (int i=0; i<nbRaysOneDimension; i++) {
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for (int j=0; j<nbRaysOneDimension; j++) {
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float theta = i * 2.0f * M_PI / float(nbRaysOneDimension);
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float phi = j * M_PI / float(nbRaysOneDimension);
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// Generate a point on a sphere with spherical coordinates
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float x = RAY_LENGTH * std::sin(phi) * std::cos(theta);
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float y = RAY_LENGTH * std::sin(phi) * std::sin(theta);
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float z = RAY_LENGTH * std::cos(phi);
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// Create a line from the point on the sphere to the center of
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// the scene
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openglframework::Vector3 point1(x, y, z);
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openglframework::Vector3 point2(0.0f, 0.0f, 0.0f);
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Line* line = new Line(point1, point2);
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mLines.push_back(line);
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}
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}
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}
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// Change the body to raycast and to display
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void Scene::changeBody() {
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mCurrentBodyIndex++;
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if (mCurrentBodyIndex >= NB_BODIES) mCurrentBodyIndex = 0;
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mSphere->getCollisionBody()->setIsActive(false);
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mBox->getCollisionBody()->setIsActive(false);
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mCone->getCollisionBody()->setIsActive(false);
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mCylinder->getCollisionBody()->setIsActive(false);
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mCapsule->getCollisionBody()->setIsActive(false);
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mConvexMesh->getCollisionBody()->setIsActive(false);
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mDumbbell->getCollisionBody()->setIsActive(false);
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switch(mCurrentBodyIndex) {
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case 0: mSphere->getCollisionBody()->setIsActive(true);
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break;
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case 1: mBox->getCollisionBody()->setIsActive(true);
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break;
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case 2: mCone->getCollisionBody()->setIsActive(true);
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break;
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case 3: mCylinder->getCollisionBody()->setIsActive(true);
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break;
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case 4: mCapsule->getCollisionBody()->setIsActive(true);
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break;
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case 5: mConvexMesh->getCollisionBody()->setIsActive(true);
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break;
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case 6: mDumbbell->getCollisionBody()->setIsActive(true);
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break;
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}
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}
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// Destructor
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Scene::~Scene() {
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// Destroy the shader
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mPhongShader.destroy();
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// Destroy the box rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody());
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delete mBox;
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// Destroy the sphere
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mCollisionWorld->destroyCollisionBody(mSphere->getCollisionBody());
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delete mSphere;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
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delete mCone;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
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// Destroy the sphere
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delete mCylinder;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
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// Destroy the sphere
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delete mCapsule;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
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// Destroy the convex mesh
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delete mConvexMesh;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
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// Destroy the convex mesh
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delete mDumbbell;
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mRaycastManager.resetPoints();
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// Destroy the static data for the visual contact points
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VisualContactPoint::destroyStaticData();
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// Destroy the collision world
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delete mCollisionWorld;
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// Destroy the lines
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for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
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++it) {
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delete (*it);
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}
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}
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// Take a step for the simulation
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void Scene::simulate() {
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mRaycastManager.resetPoints();
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// For each line of the scene
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for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
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++it) {
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Line* line = *it;
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// Create a ray corresponding to the line
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openglframework::Vector3 p1 = line->getPoint1();
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openglframework::Vector3 p2 = line->getPoint2();
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rp3d::Vector3 point1(p1.x, p1.y, p1.z);
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rp3d::Vector3 point2(p2.x, p2.y, p2.z);
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rp3d::Ray ray(point1, point2);
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// Perform a raycast query on the physics world by passing a raycast
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// callback class in argument.
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mCollisionWorld->raycast(ray, &mRaycastManager);
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}
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}
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// Render the scene
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void Scene::render() {
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glEnable(GL_DEPTH_TEST);
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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glEnable(GL_CULL_FACE);
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// Get the world-space to camera-space matrix
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const Camera& camera = mViewer->getCamera();
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const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse();
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// Bind the shader
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mPhongShader.bind();
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openglframework::Vector4 grey(0.7, 0.7, 0.7, 1);
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mPhongShader.setVector4Uniform("vertexColor", grey);
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// Set the variables of the shader
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mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
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mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
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mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
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const Color& diffColLight0 = mLight0.getDiffuseColor();
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const Color& specColLight0 = mLight0.getSpecularColor();
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mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b));
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mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b));
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mPhongShader.setFloatUniform("shininess", 200.0f);
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if (mBox->getCollisionBody()->isActive()) mBox->render(mPhongShader, worldToCameraMatrix);
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if (mSphere->getCollisionBody()->isActive()) mSphere->render(mPhongShader, worldToCameraMatrix);
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if (mCone->getCollisionBody()->isActive()) mCone->render(mPhongShader, worldToCameraMatrix);
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if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(mPhongShader, worldToCameraMatrix);
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if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(mPhongShader, worldToCameraMatrix);
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if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(mPhongShader, worldToCameraMatrix);
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if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(mPhongShader, worldToCameraMatrix);
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mPhongShader.unbind();
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mPhongShader.bind();
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mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(0, 0, 0));
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openglframework::Vector4 redColor(1, 0, 0, 1);
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mPhongShader.setVector4Uniform("vertexColor", redColor);
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// Render all the raycast hit points
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mRaycastManager.render(mPhongShader, worldToCameraMatrix, mAreNormalsDisplayed);
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mPhongShader.unbind();
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mPhongShader.bind();
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openglframework::Vector4 blueColor(0, 0.62, 0.92, 1);
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mPhongShader.setVector4Uniform("vertexColor", blueColor);
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// Render the lines
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for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
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++it) {
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(*it)->render(mPhongShader, worldToCameraMatrix);
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}
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// Unbind the shader
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mPhongShader.unbind();
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}
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