240 lines
10 KiB
C++
240 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 "Box.h"
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// Macros
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#define MEMBER_OFFSET(s,m) ((char *)NULL + (offsetof(s,m)))
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// Initialize static variables
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openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
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openglframework::VertexBufferObject Box::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
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bool Box::areVBOsCreated = false;
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VertexData Box::mCubeVertices[8] = {
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{openglframework::Vector3(1,1,1),openglframework::Vector3(1,1,1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(1,0,0,1)},
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{openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(1,0,0,1)}
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};
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GLuint Box::mCubeIndices[36] = { 0, 1, 2,
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2, 3, 0,
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7, 4, 5,
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5, 6, 7,
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6, 5, 2,
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2, 1, 6,
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7, 0, 3,
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3, 4, 7,
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7, 6, 1,
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1, 0, 7,
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3, 2, 5,
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5, 4, 3};
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// Constructor
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Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
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reactphysics3d::CollisionWorld* world)
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: openglframework::Object3D(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
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// Initialize the size of the box
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mSize[0] = size.x * 0.5f;
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mSize[1] = size.y * 0.5f;
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mSize[2] = size.z * 0.5f;
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
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0, mSize[1], 0, 0,
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0, 0, mSize[2], 0,
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0, 0, 0, 1);
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// Initialize the position where the cube will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (box shape)
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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::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
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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::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body in the dynamics world
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mRigidBody = world->createCollisionBody(transform);
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// Add the collision shape to the body
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mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
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// If the Vertex Buffer object has not been created yet
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if (!areVBOsCreated) {
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// Create the Vertex Buffer
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createVBO();
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}
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
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float mass, reactphysics3d::DynamicsWorld* world)
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: openglframework::Object3D(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
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// Initialize the size of the box
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mSize[0] = size.x * 0.5f;
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mSize[1] = size.y * 0.5f;
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mSize[2] = size.z * 0.5f;
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
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0, mSize[1], 0, 0,
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0, 0, mSize[2], 0,
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0, 0, 0, 1);
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// Initialize the position where the cube will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (box shape)
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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::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
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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::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body in the dynamics world
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rp3d::RigidBody* body = world->createRigidBody(transform);
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// Add the collision shape to the body
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body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
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mRigidBody = body;
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// If the Vertex Buffer object has not been created yet
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if (!areVBOsCreated) {
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// Create the Vertex Buffer
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createVBO();
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}
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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Box::~Box() {
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}
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// Render the cube at the correct position and with the correct orientation
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void Box::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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// Set the vertex color
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openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
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shader.setVector4Uniform("vertexColor", color);
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// Bind the vertices VBO
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mVBOVertices.bind();
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// Enable the vertex, normal and color arrays
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glEnableClientState(GL_VERTEX_ARRAY);
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glEnableClientState(GL_COLOR_ARRAY);
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glEnableClientState(GL_NORMAL_ARRAY);
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// Set the arrays pointers
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glVertexPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, position));
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glNormalPointer(GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, normal));
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glColorPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, color));
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// Bind the indices VBO
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mVBOIndices.bind();
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// Draw the geometry of the box
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glDrawElements(GL_TRIANGLES, 36, GL_UNSIGNED_INT, (char*)NULL);
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// Unbind the VBOs
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mVBOVertices.unbind();
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mVBOIndices.unbind();
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// Disable the arrays
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glDisableClientState(GL_VERTEX_ARRAY);
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glDisableClientState(GL_COLOR_ARRAY);
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glDisableClientState(GL_NORMAL_ARRAY);
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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 box
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void Box::updateTransform() {
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// Get the interpolated transform of the rigid body
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rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
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// Compute the transform used for rendering the box
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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 box dimensions
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mTransformMatrix = newMatrix * mScalingMatrix;
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}
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// Create the Vertex Buffer Objects used to render to box with OpenGL.
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/// We create two VBOs (one for vertices and one for indices) to render all the boxes
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/// in the simulation.
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void Box::createVBO() {
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// Create the VBOs
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mVBOVertices.create();
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mVBOIndices.create();
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// Copy the data into the VBOs
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mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW);
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mVBOIndices.copyDataIntoVBO(sizeof(mCubeIndices), mCubeIndices, GL_STATIC_DRAW);
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areVBOsCreated = true;
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}
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