Modifications in the examples

examples/CMakeLists.txt

@@ -4,3 +4,4 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 add_subdirectory(common/)
 add_subdirectory(fallingcubes/)
 add_subdirectory(joints/)
+add_subdirectory(convexmesh/)

examples/common/Box.cpp

@@ -105,13 +105,21 @@ Box::~Box() {
 }
 
 // Render the cube at the correct position and with the correct orientation
-void Box::render(openglframework::Shader& shader) {
+void Box::render(openglframework::Shader& shader,
+                 const openglframework::Matrix4& worldToCameraMatrix) {
 
     // Bind the shader
     shader.bind();
 
-    // Set the model to World matrix
-    shader.setMatrix4x4Uniform("modelToWorldMatrix", mTransformMatrix);
+    // 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);
 
     // Bind the vertices VBO
     mVBOVertices.bind();

examples/common/Box.h

@@ -97,7 +97,7 @@ class Box : public openglframework::Object3D {
         void updateTransform();
 
         /// Render the cube at the correct position and with the correct orientation
-        void render(openglframework::Shader& shader);
+        void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix);
 };
 
 // Return a pointer to the rigid body of the box

examples/common/Cone.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Cone.h"
+
+
+// Constructor
+Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
+           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+     : openglframework::Mesh(), mRadius(radius), mHeight(height) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/cone.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mHeight, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the cone will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (cone shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    const rp3d::ConeShape collisionShape(mRadius, mHeight);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the cone in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Cone::~Cone() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the cone at the correct position and with the correct orientation
+void Cone::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 cone
+void Cone::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the cone
+    float matrix[16];
+    transform.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 cone dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Cone.h

@@ -0,0 +1,81 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef CONE_H
+#define CONE_H
+
+// Libraries
+#include "openglframework.h"
+#include "reactphysics3d.h"
+
+// Class Cone
+class Cone : public openglframework::Mesh {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Radius of the cone
+        float mRadius;
+
+        /// Height of the cone
+        float mHeight;
+
+        /// Rigid body used to simulate the dynamics of the cone
+        rp3d::RigidBody* mRigidBody;
+
+        /// Scaling matrix (applied to a sphere to obtain the correct cone dimensions)
+        openglframework::Matrix4 mScalingMatrix;
+
+        // -------------------- Methods -------------------- //
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Cone(float radius, float height, const openglframework::Vector3& position,
+             float mass, rp3d::DynamicsWorld* dynamicsWorld);
+
+        /// Destructor
+        ~Cone();
+
+        /// Return a pointer to the rigid body of the cone
+        rp3d::RigidBody* getRigidBody();
+
+        /// Update the transform matrix of the cone
+        void updateTransform();
+
+        /// Render the cone at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
+};
+
+// Return a pointer to the rigid body of the cone
+inline rp3d::RigidBody* Cone::getRigidBody() {
+    return mRigidBody;
+}
+
+#endif

examples/common/Cylinder.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Cylinder.h"
+
+
+// Constructor
+Cylinder::Cylinder(float radius, float height, const openglframework::Vector3 &position,
+           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+     : openglframework::Mesh(), mRadius(radius), mHeight(height) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/cylinder.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mHeight, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the cylinder will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (cylinder shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    const rp3d::CylinderShape collisionShape(mRadius, mHeight);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the cylinder in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Cylinder::~Cylinder() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the cylinder at the correct position and with the correct orientation
+void Cylinder::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 cylinder
+void Cylinder::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the cylinder
+    float matrix[16];
+    transform.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 cylinder dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Cylinder.h

@@ -0,0 +1,81 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef CYLINDER_H
+#define CYLINDER_H
+
+// Libraries
+#include "openglframework.h"
+#include "reactphysics3d.h"
+
+// Class Cylinder
+class Cylinder : public openglframework::Mesh {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Radius of the cylinder
+        float mRadius;
+
+        /// Height of the cylinder
+        float mHeight;
+
+        /// Rigid body used to simulate the dynamics of the cylinder
+        rp3d::RigidBody* mRigidBody;
+
+        /// Scaling matrix (applied to a sphere to obtain the correct cylinder dimensions)
+        openglframework::Matrix4 mScalingMatrix;
+
+        // -------------------- Methods -------------------- //
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Cylinder(float radius, float height, const openglframework::Vector3& position,
+             float mass, rp3d::DynamicsWorld* dynamicsWorld);
+
+        /// Destructor
+        ~Cylinder();
+
+        /// Return a pointer to the rigid body of the cylinder
+        rp3d::RigidBody* getRigidBody();
+
+        /// Update the transform matrix of the cylinder
+        void updateTransform();
+
+        /// Render the cylinder at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
+};
+
+// Return a pointer to the rigid body of the cylinder
+inline rp3d::RigidBody* Cylinder::getRigidBody() {
+    return mRigidBody;
+}
+
+#endif

examples/common/Sphere.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Sphere.h"
+
+
+// Constructor
+Sphere::Sphere(float radius, const openglframework::Vector3 &position,
+               float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+       : openglframework::Mesh(), mRadius(radius) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/sphere.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mRadius, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the sphere will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (sphere shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    const rp3d::SphereShape collisionShape(mRadius);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the sphere in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Sphere::~Sphere() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the sphere at the correct position and with the correct orientation
+void Sphere::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 Sphere::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the sphere
+    float matrix[16];
+    transform.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;
+}

examples/common/Sphere.h

@@ -0,0 +1,78 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef SPHERE_H
+#define SPHERE_H
+
+// Libraries
+#include "openglframework.h"
+#include "reactphysics3d.h"
+
+// Class Sphere
+class Sphere : public openglframework::Mesh {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Radius of the sphere
+        float mRadius;
+
+        /// Rigid body used to simulate the dynamics of the sphere
+        rp3d::RigidBody* mRigidBody;
+
+        /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
+        openglframework::Matrix4 mScalingMatrix;
+
+        // -------------------- Methods -------------------- //
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Sphere(float radius, const openglframework::Vector3& position,
+               float mass, rp3d::DynamicsWorld* dynamicsWorld);
+
+        /// Destructor
+        ~Sphere();
+
+        /// Return a pointer to the rigid body of the sphere
+        rp3d::RigidBody* getRigidBody();
+
+        /// Update the transform matrix of the sphere
+        void updateTransform();
+
+        /// Render the sphere at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
+};
+
+// Return a pointer to the rigid body of the sphere
+inline rp3d::RigidBody* Sphere::getRigidBody() {
+    return mRigidBody;
+}
+
+#endif

examples/common/VisualContactPoint.cpp

@@ -0,0 +1,115 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "VisualContactPoint.h"
+
+// Initialization of static variables
+int VisualContactPoint::mNbTotalPoints = 0;
+bool VisualContactPoint::mIsMeshInitialized = false;
+openglframework::Mesh VisualContactPoint::mMesh;
+
+// Constructor
+VisualContactPoint::VisualContactPoint(const openglframework::Vector3 &position) {
+
+    assert(mIsMeshInitialized);
+
+    // Initialize the position where the sphere will be rendered
+    translateWorld(position);
+}
+
+// Destructor
+VisualContactPoint::~VisualContactPoint() {
+
+}
+
+// Load and initialize the mesh for all the contact points
+void VisualContactPoint::createStaticData() {
+
+    if (!mIsMeshInitialized) {
+
+        // Load the mesh from a file
+        openglframework::MeshReaderWriter::loadMeshFromFile("meshes/sphere.obj", mMesh);
+
+        // Calculate the normals of the mesh
+        mMesh.calculateNormals();
+
+        mMesh.scaleVertices(VISUAL_CONTACT_POINT_RADIUS);
+
+        mIsMeshInitialized = true;
+    }
+}
+
+// Destroy the mesh for the contact points
+void VisualContactPoint::destroyStaticData() {
+
+    mMesh.destroy();
+    mIsMeshInitialized = 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 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 (mMesh.hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, mMesh.getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, mMesh.getNormalsPointer());
+    if(mMesh.hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, mMesh.getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<mMesh.getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, mMesh.getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, mMesh.getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (mMesh.hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}

examples/common/VisualContactPoint.h

@@ -0,0 +1,73 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+#ifndef VISUAL_CONTACT_POINT_H
+#define VISUAL_CONTACT_POINT_H
+
+// Libraries
+#include "openglframework.h"
+
+const float VISUAL_CONTACT_POINT_RADIUS = 0.1f;
+
+// Class VisualContactPoint
+class VisualContactPoint : public openglframework::Object3D {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Total number of existing contact points (static attribute)
+        static int mNbTotalPoints;
+
+        /// Sphere mesh for the visual contact point
+        static openglframework::Mesh mMesh;
+
+        /// True if the mesh has been initialized
+        static bool mIsMeshInitialized;
+
+        // -------------------- Methods -------------------- //
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        VisualContactPoint(const openglframework::Vector3& position);
+
+        /// Destructor
+        ~VisualContactPoint();
+
+        /// Load and initialize the mesh for all the contact points
+        static void createStaticData();
+
+        /// Destroy the mesh for the contact points
+        static void destroyStaticData();
+
+        /// Render the sphere at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
+};
+
+#endif

examples/common/meshes/cone.obj

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+# www.blender.org
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examples/common/opengl-framework/src/Shader.h

@@ -111,6 +111,11 @@ class Shader {
         void setMatrix3x3Uniform(const std::string& variableName, const float* matrix,
                                  bool transpose = false) const;
 
+        // Set a 3x3 matrix uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setMatrix3x3Uniform(const std::string& variableName, const Matrix3& matrix) const;
+
         // Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
         // used in the shader, the compiler will remove it, then when you will try
         // to set it, an assert will occur)
@@ -208,6 +213,20 @@ inline void Shader::setMatrix3x3Uniform(const std::string& variableName, const f
     glUniformMatrix3fv(getUniformLocation(variableName), 1, transpose, matrix);
 }
 
+// Set a 3x3 matrix uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setMatrix3x3Uniform(const std::string& variableName, const Matrix3& matrix) const {
+    assert(mProgramObjectID != 0);
+    GLfloat mat[9];
+    for (int i=0; i<3; i++) {
+        for (int j=0; j<3; j++) {
+            mat[i*3 + j] = matrix.getValue(i, j);
+        }
+    }
+    glUniformMatrix3fv(getUniformLocation(variableName), 1, true, mat);
+}
+
 // Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
 // used in the shader, the compiler will remove it, then when you will try
 // to set it, an assert will occur)

examples/common/opengl-framework/src/maths/Matrix4.h

@@ -32,6 +32,7 @@
 #include <iostream>
 #include "Vector3.h"
 #include "Vector4.h"
+#include "Matrix3.h"
 
 namespace openglframework {
 
@@ -233,6 +234,13 @@ class Matrix4 {
                            m[0][3], m[1][3], m[2][3], m[3][3]);
         }
 
+        // Return the 3x3 upper-left matrix
+        Matrix3 getUpperLeft3x3Matrix() const {
+            return Matrix3(m[0][0], m[0][1], m[0][2],
+                           m[1][0], m[1][1], m[1][2],
+                           m[2][0], m[2][1], m[2][2]);
+        }
+
         // Return the inversed matrix
         Matrix4 getInverse() const {
             int indxc[4], indxr[4];

examples/common/opengl-framework/src/shaders/phong.frag

@@ -24,8 +24,7 @@
 ********************************************************************************/
 
 // Uniform variables
-uniform vec3 cameraWorldPosition;           // World position of the camera
-uniform vec3 lightWorldPosition;            // World position of the light
+uniform vec3 lightPosCameraSpace;           // Camera-space position of the light
 uniform vec3 lightAmbientColor;             // Lights ambient color
 uniform vec3 lightDiffuseColor;             // Light diffuse color
 uniform vec3 lightSpecularColor;            // Light specular color
@@ -34,9 +33,9 @@ uniform sampler2D texture;                  // Texture
 uniform bool isTexture;                     // True if we need to use the texture
 
 // Varying variables
-varying vec3 worldPosition;             // World position of the vertex
-varying vec3 worldNormal;               // World surface normalWorld
-varying vec2 texCoords;                 // Texture coordinates
+varying vec3 vertexPosCameraSpace;          // Camera-space position of the vertex
+varying vec3 vertexNormalCameraSpace;       // Vertex normal in camera-space
+varying vec2 texCoords;                     // Texture coordinates
 
 void main() {
 
@@ -44,19 +43,21 @@ void main() {
     vec3 ambient = lightAmbientColor;
 
     // Get the texture color
-
     vec3 textureColor = vec3(1);
     if (isTexture) textureColor = texture2D(texture, texCoords).rgb;
 
     // Compute the diffuse term
-    vec3 L = normalize(lightWorldPosition - worldPosition);
-    vec3 N = normalize(worldNormal);
-    vec3 diffuse = lightDiffuseColor * max(dot(N, L), 0.0) * textureColor;
+    vec3 L = normalize(lightPosCameraSpace - vertexPosCameraSpace);
+    vec3 N = normalize(vertexNormalCameraSpace);
+    float diffuseFactor = max(dot(N, L), 0.0);
+    vec3 diffuse = lightDiffuseColor * diffuseFactor * textureColor;
 
     // Compute the specular term
-    vec3 V = normalize(cameraWorldPosition - worldPosition);
+    vec3 V = normalize(-vertexPosCameraSpace);
     vec3 H = normalize(V + L);
-    vec3 specular = lightSpecularColor * pow(max(dot(N, H), 0), shininess);
+    float specularFactor = pow(max(dot(N, H), 0), shininess);
+    if (diffuseFactor < 0) specularFactor = 0.0;
+    vec3 specular = lightSpecularColor * specularFactor;
 
     // Compute the final color
     gl_FragColor = vec4(ambient + diffuse + specular, 1.0);

examples/common/opengl-framework/src/shaders/phong.vert

@@ -24,28 +24,27 @@
 ********************************************************************************/
 
 // Uniform variables
-uniform mat4 modelToWorldMatrix;        // Model too world coordinates matrix
-uniform mat4 worldToCameraMatrix;       // World to camera coordinates matrix
+uniform mat4 localToCameraMatrix;       // Local-space to camera-space matrix
 uniform mat4 projectionMatrix;          // Projection matrix
+uniform mat3 normalMatrix;              // Normal matrix
 
 // Varying variables
-varying vec3 worldPosition;             // World position of the vertex
-varying vec3 worldNormal;               // World surface normalWorld
+varying vec3 vertexPosCameraSpace;      // Camera-space position of the vertex
+varying vec3 vertexNormalCameraSpace;   // Vertex normal in camera-space
 varying vec2 texCoords;                 // Texture coordinates
 
 void main() {
 
     // Compute the vertex position
-    vec4 worldPos = modelToWorldMatrix * gl_Vertex;
-    worldPosition = worldPos.xyz;
+    vec4 positionCameraSpace = localToCameraMatrix * gl_Vertex;
+    vertexPosCameraSpace = positionCameraSpace.xyz;
 
     // Compute the world surface normal
-    vec3 bodyNormal = normalize(gl_Normal);
-    worldNormal = (modelToWorldMatrix * vec4(bodyNormal, 0.0)).xyz;
+    vertexNormalCameraSpace = normalMatrix * gl_Normal;
 
     // Get the texture coordinates
     texCoords = gl_MultiTexCoord0.xy;
 
     // Compute the clip-space vertex coordinates
-    gl_Position = projectionMatrix * worldToCameraMatrix * worldPos;
+    gl_Position = projectionMatrix * positionCameraSpace;
 }

examples/fallingcubes/Scene.cpp

@@ -59,7 +59,7 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
     float radius = 2.0f;
 
     // Create all the cubes of the scene
-    for (int i=0; i<NB_BOXES; i++) {
+    for (int i=0; i<NB_SPHERES; i++) {
 
         // Position of the cubes
         float angle = i * 30.0f;
@@ -68,7 +68,7 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
                                           radius * sin(angle));
 
         // Create a cube and a corresponding rigid in the dynamics world
-        Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
+        Box* cube = new Box(BOX_SIZE, position , SPHERE_MASS, mDynamicsWorld);
 
         // The box is a moving rigid body
         cube->getRigidBody()->setIsMotionEnabled(true);
@@ -151,17 +151,16 @@ void Scene::render() {
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
     glEnable(GL_CULL_FACE);
 
+    // Get the world-space to camera-space matrix
+    const Camera& camera = mViewer->getCamera();
+    const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse();
+
     // Bind the shader
     mPhongShader.bind();
 
     // Set the variables of the shader
-    const Camera& camera = mViewer->getCamera();
-    Matrix4 matrixIdentity;
-    matrixIdentity.setToIdentity();
-    mPhongShader.setVector3Uniform("cameraWorldPosition", mViewer->getCamera().getOrigin());
-    mPhongShader.setMatrix4x4Uniform("worldToCameraMatrix", camera.getTransformMatrix().getInverse());
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
-    mPhongShader.setVector3Uniform("lightWorldPosition", mLight0.getOrigin());
+    mPhongShader.setVector3Uniform("lightPosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
     mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
     Color& diffCol = mLight0.getDiffuseColor();
     Color& specCol = mLight0.getSpecularColor();
@@ -171,11 +170,11 @@ void Scene::render() {
 
     // Render all the cubes of the scene
     for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
-        (*it)->render(mPhongShader);
+        (*it)->render(mPhongShader, worldToCameraMatrix);
     }
 
     // Render the floor
-    mFloor->render(mPhongShader);
+    mFloor->render(mPhongShader, worldToCameraMatrix);
 
     // Unbind the shader
     mPhongShader.unbind();

examples/fallingcubes/Scene.h

@@ -32,10 +32,10 @@
 #include "Box.h"
 
 // Constants
-const int NB_BOXES = 20;                                    // Number of boxes in the scene
+const int NB_SPHERES = 20;                                    // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);    // Floor dimensions in meters
-const float BOX_MASS = 1.0f;                                // Box mass in kilograms
+const float SPHERE_MASS = 1.0f;                                // Box mass in kilograms
 const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 
 // Class Scene

examples/joints/Scene.cpp

@@ -156,15 +156,15 @@ void Scene::render() {
     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
     glEnable(GL_CULL_FACE);
 
+    // Get the world-space to camera-space matrix
+    const Camera& camera = mViewer->getCamera();
+    const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse();
+
     // Bind the shader
     mPhongShader.bind();
 
     // Set the variables of the shader
-    const Camera& camera = mViewer->getCamera();
-    Matrix4 matrixIdentity;
-    matrixIdentity.setToIdentity();
-    mPhongShader.setVector3Uniform("cameraWorldPosition", mViewer->getCamera().getOrigin());
-    mPhongShader.setMatrix4x4Uniform("worldToCameraMatrix", camera.getTransformMatrix().getInverse());
+    mPhongShader.setVector3Uniform("lightPosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
     mPhongShader.setVector3Uniform("lightWorldPosition", mLight0.getOrigin());
     mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
@@ -175,17 +175,17 @@ void Scene::render() {
     mPhongShader.setFloatUniform("shininess", 60.0f);
 
     // Render all the boxes
-    mSliderJointBottomBox->render(mPhongShader);
-    mSliderJointTopBox->render(mPhongShader);
-    mPropellerBox->render(mPhongShader);
-    mFixedJointBox1->render(mPhongShader);
-    mFixedJointBox2->render(mPhongShader);
+    mSliderJointBottomBox->render(mPhongShader, worldToCameraMatrix);
+    mSliderJointTopBox->render(mPhongShader, worldToCameraMatrix);
+    mPropellerBox->render(mPhongShader, worldToCameraMatrix);
+    mFixedJointBox1->render(mPhongShader, worldToCameraMatrix);
+    mFixedJointBox2->render(mPhongShader, worldToCameraMatrix);
     for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
-        mBallAndSocketJointChainBoxes[i]->render(mPhongShader);
+        mBallAndSocketJointChainBoxes[i]->render(mPhongShader, worldToCameraMatrix);
     }
 
     // Render the floor
-    mFloor->render(mPhongShader);
+    mFloor->render(mPhongShader, worldToCameraMatrix);
 
     // Unbind the shader
     mPhongShader.unbind();
@@ -244,7 +244,7 @@ void Scene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 box1Dimension(2, 4, 2);
-    mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+    mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , SPHERE_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
@@ -259,7 +259,7 @@ void Scene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 box2Dimension(1.5, 4, 1.5);
-    mSliderJointTopBox = new Box(box2Dimension, positionBox2 , BOX_MASS, mDynamicsWorld);
+    mSliderJointTopBox = new Box(box2Dimension, positionBox2 , SPHERE_MASS, mDynamicsWorld);
 
     // The second box is allowed to move
     mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
@@ -297,7 +297,7 @@ void Scene::createPropellerHingeJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 boxDimension(10, 1, 1);
-    mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+    mPropellerBox = new Box(boxDimension, positionBox1 , SPHERE_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
@@ -334,7 +334,7 @@ void Scene::createFixedJoints() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
-    mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+    mFixedJointBox1 = new Box(boxDimension, positionBox1 , SPHERE_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
@@ -348,7 +348,7 @@ void Scene::createFixedJoints() {
     openglframework::Vector3 positionBox2(-5, 7, 0);
 
     // Create a box and a corresponding rigid in the dynamics world
-    mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
+    mFixedJointBox2 = new Box(boxDimension, positionBox2 , SPHERE_MASS, mDynamicsWorld);
 
     // The second box is allowed to move
     mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);

examples/joints/Scene.h

@@ -34,7 +34,7 @@
 // Constants
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);    // Floor dimensions in meters
-const float BOX_MASS = 1.0f;                                // Box mass in kilograms
+const float SPHERE_MASS = 1.0f;                                // Box mass in kilograms
 const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 const int NB_BALLSOCKETJOINT_BOXES = 7;                     // Number of Ball-And-Socket chain boxes
 const int NB_HINGE_BOXES = 7;                               // Number of Hinge chain boxes

src/engine/DynamicsWorld.h

@@ -224,6 +224,9 @@ public :
 
         /// Return an iterator to the end of the rigid bodies of the physics world
         std::set<RigidBody*>::iterator getRigidBodiesEndIterator();
+
+        /// Return a reference to the contact manifolds of the world
+        const std::vector<ContactManifold*>& getContactManifolds() const;
 };
 
 // Start the physics simulation
@@ -333,12 +336,17 @@ inline std::set<RigidBody*>::iterator DynamicsWorld::getRigidBodiesEndIterator()
     return mRigidBodies.end();
 }
 
+// Return a reference to the contact manifolds of the world
+inline const std::vector<ContactManifold*>& DynamicsWorld::getContactManifolds() const {
+    return mContactManifolds;
+}
+
 // Return the number of contact manifolds in the world
 inline uint DynamicsWorld::getNbContactManifolds() const {
     return mContactManifolds.size();
 }
 
-/// Return the current physics time (in seconds)
+// Return the current physics time (in seconds)
 inline long double DynamicsWorld::getPhysicsTime() const {
     return mTimer.getPhysicsTime();
 }