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Modifications of the examples

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This commit is contained in:
Daniel Chappuis 2013-07-03 22:42:58 +02:00
parent 501b0747d3
commit 84d946ac48
6 changed files with 37 additions and 34 deletions
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26
examples/common/opengl-framework/src/shaders/phong.frag
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@ -6,7 +6,7 @@
* 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: *
@ -24,10 +24,10 @@
********************************************************************************/
// Uniform variables
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
uniform vec3 light0PosCameraSpace; // Camera-space position of the light
uniform vec3 light0DiffuseColor; // Light 0 diffuse color
uniform vec3 light0SpecularColor; // Light 0 specular color
uniform float shininess; // Shininess
uniform sampler2D texture; // Texture
uniform bool isTexture; // True if we need to use the texture
@ -46,18 +46,20 @@ void main() {
vec3 textureColor = vec3(1);
if (isTexture) textureColor = texture2D(texture, texCoords).rgb;
// Compute the diffuse term
vec3 L = normalize(lightPosCameraSpace - vertexPosCameraSpace);
// Compute the surface normal vector
vec3 N = normalize(vertexNormalCameraSpace);
float diffuseFactor = max(dot(N, L), 0.0);
vec3 diffuse = lightDiffuseColor * diffuseFactor * textureColor;
// Compute the specular term
// Compute the diffuse term of light 0
vec3 L0 = normalize(light0PosCameraSpace - vertexPosCameraSpace);
float diffuseFactor = max(dot(N, L0), 0.0);
vec3 diffuse = light0DiffuseColor * diffuseFactor * textureColor;
// Compute the specular term of light 0
vec3 V = normalize(-vertexPosCameraSpace);
vec3 H = normalize(V + L);
float specularFactor = pow(max(dot(N, H), 0), shininess);
vec3 H0 = normalize(V + L0);
float specularFactor = pow(max(dot(N, H0), 0), shininess);
if (diffuseFactor < 0) specularFactor = 0.0;
vec3 specular = lightSpecularColor * specularFactor;
vec3 specular = light0SpecularColor * specularFactor;
// Compute the final color
gl_FragColor = vec4(ambient + diffuse + specular, 1.0);

10
examples/fallingcubes/Scene.cpp
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@ -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_SPHERES; i++) {
for (int i=0; i<NB_CUBES; 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 , SPHERE_MASS, mDynamicsWorld);
Box* cube = new Box(BOX_SIZE, position , CUBE_MASS, mDynamicsWorld);
// The box is a moving rigid body
cube->getRigidBody()->setIsMotionEnabled(true);
@ -160,12 +160,12 @@ void Scene::render() {
// Set the variables of the shader
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
mPhongShader.setVector3Uniform("lightPosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
mPhongShader.setVector3Uniform("light0PosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
Color& diffCol = mLight0.getDiffuseColor();
Color& specCol = mLight0.getSpecularColor();
mPhongShader.setVector3Uniform("lightDiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
mPhongShader.setVector3Uniform("lightSpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
mPhongShader.setFloatUniform("shininess", 60.0f);
// Render all the cubes of the scene

4
examples/fallingcubes/Scene.h
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@ -32,10 +32,10 @@
#include "Box.h"
// Constants
const int NB_SPHERES = 20; // Number of boxes in the scene
const int NB_CUBES = 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 SPHERE_MASS = 1.0f; // Box mass in kilograms
const float CUBE_MASS = 1.0f; // Box mass in kilograms
const float FLOOR_MASS = 100.0f; // Floor mass in kilograms
// Class Scene

19
examples/joints/Scene.cpp
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@ -164,14 +164,13 @@ void Scene::render() {
mPhongShader.bind();
// Set the variables of the shader
mPhongShader.setVector3Uniform("lightPosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
mPhongShader.setVector3Uniform("light0PosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
mPhongShader.setVector3Uniform("lightWorldPosition", mLight0.getOrigin());
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
Color& diffCol = mLight0.getDiffuseColor();
Color& specCol = mLight0.getSpecularColor();
mPhongShader.setVector3Uniform("lightDiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
mPhongShader.setVector3Uniform("lightSpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
mPhongShader.setFloatUniform("shininess", 60.0f);
// Render all the boxes
@ -244,7 +243,7 @@ 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 , SPHERE_MASS, mDynamicsWorld);
mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
// The fist box cannot move
mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
@ -259,7 +258,7 @@ 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 , SPHERE_MASS, mDynamicsWorld);
mSliderJointTopBox = new Box(box2Dimension, positionBox2 , CUBE_MASS, mDynamicsWorld);
// The second box is allowed to move
mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
@ -297,7 +296,7 @@ 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 , SPHERE_MASS, mDynamicsWorld);
mPropellerBox = new Box(boxDimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
// The fist box cannot move
mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
@ -334,7 +333,7 @@ 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 , SPHERE_MASS, mDynamicsWorld);
mFixedJointBox1 = new Box(boxDimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
// The fist box cannot move
mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
@ -348,7 +347,7 @@ 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 , SPHERE_MASS, mDynamicsWorld);
mFixedJointBox2 = new Box(boxDimension, positionBox2 , CUBE_MASS, mDynamicsWorld);
// The second box is allowed to move
mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);
@ -363,6 +362,7 @@ void Scene::createFixedJoints() {
rp3d::RigidBody* propellerBody = mPropellerBox->getRigidBody();
const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
jointInfo1.isCollisionEnabled = false;
// Create the joint in the dynamics world
mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
@ -373,6 +373,7 @@ void Scene::createFixedJoints() {
rp3d::RigidBody* body2 = mFixedJointBox2->getRigidBody();
const rp3d::Vector3 anchorPointWorldSpace2(-5, 7, 0);
rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
jointInfo2.isCollisionEnabled = false;
// Create the joint in the dynamics world
mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));

2
examples/joints/Scene.h
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@ -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 SPHERE_MASS = 1.0f; // Box mass in kilograms
const float CUBE_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

10
src/collision/shapes/ConeShape.cpp
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@ -45,12 +45,12 @@ using namespace reactphysics3d;
// Constructor
ConeShape::ConeShape(decimal radius, decimal height)
: CollisionShape(CONE), mRadius(radius), mHalfHeight(height / decimal(2.0)) {
assert(radius > 0.0);
: CollisionShape(CONE), mRadius(radius), mHalfHeight(height * decimal(0.5)) {
assert(mRadius > 0.0);
assert(mHalfHeight > 0.0);
// Compute the sine of the semi-angle at the apex point
mSinTheta = radius / (sqrt(radius * radius + height * height));
mSinTheta = mRadius / (sqrt(mRadius * mRadius + height * height));
}
// Private copy-constructor
@ -88,7 +88,7 @@ inline Vector3 ConeShape::getLocalSupportPointWithoutMargin(const Vector3& direc
decimal sinThetaTimesLengthV = mSinTheta * v.length();
Vector3 supportPoint;
if (v.y >= sinThetaTimesLengthV) {
if (v.y > sinThetaTimesLengthV) {
supportPoint = Vector3(0.0, mHalfHeight, 0.0);
}
else {
@ -98,7 +98,7 @@ inline Vector3 ConeShape::getLocalSupportPointWithoutMargin(const Vector3& direc
supportPoint = Vector3(v.x * d, -mHalfHeight, v.z * d);
}
else {
supportPoint = Vector3(mRadius, -mHalfHeight, 0.0);
supportPoint = Vector3(0.0, -mHalfHeight, 0.0);
}
}