reactphysics3d/testbed/common/Dumbbell.cpp

/********************************************************************************
* 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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*    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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********************************************************************************/

// Libraries
#include "Dumbbell.h"

// Constructor
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
                   reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
         : openglframework::Mesh() {

    // Load the mesh from a file
    openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);

    // Calculate the normals of the mesh
    calculateNormals();

    // Identity scaling matrix
    mScalingMatrix.setToIdentity();

    // Initialize the position where the sphere will be rendered
    translateWorld(position);

    // Create a sphere collision shape for the two ends of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
    const rp3d::decimal massSphere = rp3d::decimal(2.0);
    const rp3d::SphereShape sphereCollisionShape(radiusSphere);

    // Create a cylinder collision shape for the middle of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
    const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
    const rp3d::decimal massCylinder = rp3d::decimal(1.0);
    const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);

    // Initial position and orientation of the rigid body
    rp3d::Vector3 initPosition(position.x, position.y, position.z);
    rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
    rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
    rp3d::Transform transformBody(initPosition, initOrientation);

    mPreviousTransform = transformBody;

    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());

    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());

    // Initial transform of the cylinder collision shape of the dumbell (in local-space)
    rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());

    // Create a rigid body corresponding to the dumbbell in the dynamics world
    rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transformBody);

    // Add the three collision shapes to the body and specify the mass and transform of the shapes
    body->addCollisionShape(sphereCollisionShape, transformSphereShape1, massSphere);
    body->addCollisionShape(sphereCollisionShape, transformSphereShape2, massSphere);
    body->addCollisionShape(cylinderCollisionShape, transformCylinderShape, massCylinder);

    mBody = body;

    mTransformMatrix = mTransformMatrix * mScalingMatrix;
}

// Constructor
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
                   reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath)
         : openglframework::Mesh() {

    // Load the mesh from a file
    openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);

    // Calculate the normals of the mesh
    calculateNormals();

    // Identity scaling matrix
    mScalingMatrix.setToIdentity();

    // Initialize the position where the sphere will be rendered
    translateWorld(position);

    // Create a sphere collision shape for the two ends of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
    const rp3d::decimal massSphere = rp3d::decimal(2.0);
    const rp3d::SphereShape sphereCollisionShape(radiusSphere);

    // Create a cylinder collision shape for the middle of the dumbbell
    // ReactPhysics3D will clone this object to create an internal one. Therefore,
    // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
    const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
    const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
    const rp3d::decimal massCylinder = rp3d::decimal(1.0);
    const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);

    // Initial position and orientation of the rigid body
    rp3d::Vector3 initPosition(position.x, position.y, position.z);
    rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
    rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
    rp3d::Transform transformBody(initPosition, initOrientation);

    // Initial transform of the first sphere collision shape of the dumbbell (in local-space)
    rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());

    // Initial transform of the second sphere collision shape of the dumbell (in local-space)
    rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());

    // Initial transform of the cylinder collision shape of the dumbell (in local-space)
    rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());

    // Create a rigid body corresponding to the dumbbell in the dynamics world
    mBody = world->createCollisionBody(transformBody);

    // Add the three collision shapes to the body and specify the mass and transform of the shapes
    mBody->addCollisionShape(sphereCollisionShape, transformSphereShape1);
    mBody->addCollisionShape(sphereCollisionShape, transformSphereShape2);
    mBody->addCollisionShape(cylinderCollisionShape, transformCylinderShape);

    mTransformMatrix = mTransformMatrix * mScalingMatrix;
}

// Destructor
Dumbbell::~Dumbbell() {

    // Destroy the mesh
    destroy();
}

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

    // Bind the shader
    shader.bind();

    // Set the model to camera matrix
    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);

    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
    // model-view matrix)
    const openglframework::Matrix3 normalMatrix =
                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);

    glEnableClientState(GL_VERTEX_ARRAY);
    glEnableClientState(GL_NORMAL_ARRAY);
    if (hasTexture()) {
        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
    }

    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
    if(hasTexture()) {
        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
    }

    // For each part of the mesh
    for (unsigned int i=0; i<getNbParts(); i++) {
        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
                       GL_UNSIGNED_INT, getIndicesPointer());
    }

    glDisableClientState(GL_NORMAL_ARRAY);
    glDisableClientState(GL_VERTEX_ARRAY);
    if (hasTexture()) {
        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
    }

    // Unbind the shader
    shader.unbind();
}

// Update the transform matrix of the sphere
void Dumbbell::updateTransform(float interpolationFactor) {

    // Get the transform of the rigid body
    rp3d::Transform transform = mBody->getTransform();

    // Interpolate the transform between the previous one and the new one
    rp3d::Transform interpolatedTransform = rp3d::Transform::interpolateTransforms(mPreviousTransform,
                                                                                  transform,
                                                                                  interpolationFactor);

    // Compute the transform used for rendering the sphere
    rp3d::decimal matrix[16];
    interpolatedTransform.getOpenGLMatrix(matrix);
    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
                                       matrix[1], matrix[5], matrix[9], matrix[13],
                                       matrix[2], matrix[6], matrix[10], matrix[14],
                                       matrix[3], matrix[7], matrix[11], matrix[15]);

    // Apply the scaling matrix to have the correct sphere dimensions
    mTransformMatrix = newMatrix * mScalingMatrix;
}