Fix rendering issue in RaycastScene

testbed/common/VisualContactPoint.cpp

@@ -33,6 +33,7 @@ openglframework::VertexBufferObject VisualContactPoint::mVBOIndices(GL_ELEMENT_A
 openglframework::VertexArrayObject VisualContactPoint::mVAO;
 int VisualContactPoint::mNbTotalPoints = 0;
 openglframework::Mesh VisualContactPoint::mMesh;
+bool VisualContactPoint::mStaticDataCreated = false;
 
 // Constructor
 VisualContactPoint::VisualContactPoint(const openglframework::Vector3& position,
@@ -51,6 +52,8 @@ VisualContactPoint::~VisualContactPoint() {
 // Load and initialize the mesh for all the contact points
 void VisualContactPoint::createStaticData(const std::string& meshFolderPath) {
 
+    if (mStaticDataCreated) return;
+
     // Load the mesh from a file
     openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "sphere.obj", mMesh);
 
@@ -60,11 +63,15 @@ void VisualContactPoint::createStaticData(const std::string& meshFolderPath) {
     mMesh.scaleVertices(VISUAL_CONTACT_POINT_RADIUS);
 
     createVBOAndVAO();
+
+    mStaticDataCreated = true;
 }
 
 // Destroy the mesh for the contact points
 void VisualContactPoint::destroyStaticData() {
 
+    if (!mStaticDataCreated) return;
+
     // Destroy the VBOs and VAO
     mVBOIndices.destroy();
     mVBOVertices.destroy();
@@ -72,15 +79,22 @@ void VisualContactPoint::destroyStaticData() {
     mVAO.destroy();
 
     mMesh.destroy();
+
+    mStaticDataCreated = false;
 }
 
 // Render the sphere at the correct position and with the correct orientation
 void VisualContactPoint::render(openglframework::Shader& shader,
                                 const openglframework::Matrix4& worldToCameraMatrix) {
 
+    // Bind the VAO
+    mVAO.bind();
+
     // Bind the shader
     shader.bind();
 
+    mVBOVertices.bind();
+
     // Set the model to camera matrix
     shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
     shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
@@ -96,11 +110,6 @@ void VisualContactPoint::render(openglframework::Shader& shader,
     openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
     shader.setVector4Uniform("vertexColor", color, false);
 
-    // Bind the VAO
-    mVAO.bind();
-
-    mVBOVertices.bind();
-
     // Get the location of shader attribute variables
     GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
     GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);

testbed/common/VisualContactPoint.h

@@ -56,6 +56,9 @@ class VisualContactPoint : public openglframework::Object3D {
         /// Vertex Array Object for the vertex data
         static openglframework::VertexArrayObject mVAO;
 
+        /// True if static data (VBO, VAO) has been created already
+        static bool mStaticDataCreated;
+
         /// Color
         openglframework::Color mColor;
 

testbed/scenes/raycast/RaycastScene.cpp

@@ -296,9 +296,14 @@ void RaycastScene::update() {
 void RaycastScene::renderSinglePass(openglframework::Shader& shader,
                                     const openglframework::Matrix4& worldToCameraMatrix) {
 
+    // Bind the VAO
+    mVAO.bind();
+
     // Bind the shader
     shader.bind();
 
+    mVBOVertices.bind();
+
     // Set the model to camera matrix
     const Matrix4 localToCameraMatrix = Matrix4::identity();
     shader.setMatrix4x4Uniform("localToWorldMatrix", localToCameraMatrix);
@@ -314,12 +319,19 @@ void RaycastScene::renderSinglePass(openglframework::Shader& shader,
     openglframework::Vector4 color(1, 0, 0, 1);
     shader.setVector4Uniform("vertexColor", color, false);
 
-    // Bind the VAO
-    mVAO.bind();
+    // Get the location of shader attribute variables
+    GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
+
+    glEnableVertexAttribArray(vertexPositionLoc);
+    glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
 
     // Draw the lines
     glDrawArrays(GL_LINES, 0, NB_RAYS);
 
+    glDisableVertexAttribArray(vertexPositionLoc);
+
+    mVBOVertices.unbind();
+
     // Unbind the VAO
     mVAO.unbind();
 
@@ -335,27 +347,6 @@ void RaycastScene::renderSinglePass(openglframework::Shader& shader,
     if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix);
 
     //mPhongShader.unbind();
-    shader.bind();
-
-    openglframework::Vector4 redColor(1, 0, 0, 1);
-    shader.setVector4Uniform("vertexColor", redColor, false);
-
-    // Render all the raycast hit points
-    mRaycastManager.render(worldToCameraMatrix, mAreNormalsDisplayed);
-
-    shader.unbind();
-    shader.bind();
-
-    openglframework::Vector4 blueColor(0, 0.62, 0.92, 1);
-    shader.setVector4Uniform("vertexColor", blueColor, false);
-
-    // Render the lines
-    for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
-         ++it) {
-        (*it)->render(shader, worldToCameraMatrix);
-    }
-
-    // Unbind the shader
     shader.unbind();
 }
 
@@ -366,9 +357,6 @@ void RaycastScene::createVBOAndVAO(openglframework::Shader& shader) {
     // Bind the shader
     shader.bind();
 
-    // Get the location of shader attribute variables
-    GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
-
     // Create the VBO for the vertices data
     mVBOVertices.create();
     mVBOVertices.bind();
@@ -382,8 +370,6 @@ void RaycastScene::createVBOAndVAO(openglframework::Shader& shader) {
 
     // Bind the VBO of vertices
     mVBOVertices.bind();
-    glEnableVertexAttribArray(vertexPositionLoc);
-    glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
 
     // Unbind the VAO
     mVAO.unbind();

testbed/scenes/raycast/RaycastScene.h

@@ -99,36 +99,8 @@ class RaycastManager : public rp3d::RaycastCallback {
             return raycastInfo.hitFraction;
         }
 
-        void render(const openglframework::Matrix4& worldToCameraMatrix,
-                    bool showNormals) {
-
-            /*
-            // Render all the raycast hit points
-            for (std::vector<ContactPoint>::iterator it = mHitPoints.begin();
-                 it != mHitPoints.end(); ++it) {
-                (*it)->render(mShader, worldToCameraMatrix);
-            }
-            */
-
-            if (showNormals) {
-
-                // Render all the normals at hit points
-                for (std::vector<Line*>::iterator it = mNormals.begin();
-                     it != mNormals.end(); ++it) {
-                    (*it)->render(mShader, worldToCameraMatrix);
-                }
-            }
-        }
-
         void resetPoints() {
 
-            /*
-            // Destroy all the visual contact points
-            for (std::vector<VisualContactPoint*>::iterator it = mHitPoints.begin();
-                 it != mHitPoints.end(); ++it) {
-                delete (*it);
-            }
-            */
             mHitPoints.clear();
 
             // Destroy all the normals

testbed/src/SceneDemo.cpp

@@ -188,7 +188,7 @@ void SceneDemo::render() {
     if (mIsShadowMappingEnabled) mShadowMapTexture.unbind();
     mPhongShader.unbind();
 
-   drawTextureQuad();
+   //drawTextureQuad();
 }
 
 // Create the Shadow map FBO and texture