diff --git a/documentation/API/ReactPhysics3DLogo.png b/documentation/API/ReactPhysics3DLogo.png
old mode 100755
new mode 100644
diff --git a/documentation/UserManual/ReactPhysics3D-UserManual.tex b/documentation/UserManual/ReactPhysics3D-UserManual.tex
old mode 100755
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diff --git a/documentation/UserManual/images/ReactPhysics3DLogo.png b/documentation/UserManual/images/ReactPhysics3DLogo.png
old mode 100755
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diff --git a/documentation/UserManual/title.tex b/documentation/UserManual/title.tex
old mode 100755
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diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 4f0cab67..568479fb 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,5 +1,5 @@
# Minimum cmake version required
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-add_subdirectory(opengl-framework/)
-add_subdirectory(fallingcubes/)
\ No newline at end of file
+add_subdirectory(common/)
+add_subdirectory(fallingcubes/)
diff --git a/examples/common/Box.cpp b/examples/common/Box.cpp
new file mode 100644
index 00000000..d4169c9a
--- /dev/null
+++ b/examples/common/Box.cpp
@@ -0,0 +1,180 @@
+/********************************************************************************
+* 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 "Box.h"
+
+// Macros
+#define MEMBER_OFFSET(s,m) ((char *)NULL + (offsetof(s,m)))
+
+// Initialize static variables
+openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
+openglframework::VertexBufferObject Box::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
+bool Box::areVBOsCreated = false;
+VertexData Box::mCubeVertices[8] = {
+ {openglframework::Vector3(1,1,1),openglframework::Vector3(1,1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(0,0,1,1)}
+};
+GLuint Box::mCubeIndices[36] = { 0, 1, 2,
+ 2, 3, 0,
+ 7, 4, 5,
+ 5, 6, 7,
+ 6, 5, 2,
+ 2, 1, 6,
+ 7, 0, 3,
+ 3, 4, 7,
+ 7, 6, 1,
+ 1, 0, 7,
+ 3, 2, 5,
+ 5, 4, 3};
+
+// Constructor
+Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
+ float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+ : openglframework::Object3D() {
+
+ // Initialize the size of the box
+ mSize[0] = size.x * 0.5f;
+ mSize[1] = size.y * 0.5f;
+ mSize[2] = size.z * 0.5f;
+
+ // Compute the scaling matrix
+ mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
+ 0, mSize[1], 0, 0,
+ 0, 0, mSize[2], 0,
+ 0, 0, 0, 1);
+
+ // Initialize the position where the cube will be rendered
+ translateWorld(position);
+
+ // Create the collision shape for the rigid body (box shape)
+ mCollisionShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
+
+ // Compute the inertia tensor of the body using its collision shape
+ rp3d::Matrix3x3 inertiaTensor;
+ mCollisionShape->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 cube in the dynamics world
+ mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, mCollisionShape);
+
+ // If the Vertex Buffer object has not been created yet
+ if (!areVBOsCreated) {
+ // Create the Vertex Buffer
+ createVBO();
+ }
+}
+
+// Destructor
+Box::~Box() {
+
+ // Destroy the collision shape
+ delete mCollisionShape;
+}
+
+// Render the cube at the correct position and with the correct orientation
+void Box::render(openglframework::Shader& shader) {
+
+ // Bind the shader
+ shader.bind();
+
+ // Set the model to World matrix
+ shader.setMatrix4x4Uniform("modelToWorldMatrix", mTransformMatrix);
+
+ // Bind the vertices VBO
+ mVBOVertices.bind();
+
+ // Enable the vertex, normal and color arrays
+ glEnableClientState(GL_VERTEX_ARRAY);
+ glEnableClientState(GL_COLOR_ARRAY);
+ glEnableClientState(GL_NORMAL_ARRAY);
+
+ // Set the arrays pointers
+ glVertexPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, position));
+ glNormalPointer(GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, normal));
+ glColorPointer(3, GL_FLOAT, sizeof(VertexData), MEMBER_OFFSET(VertexData, color));
+
+ // Bind the indices VBO
+ mVBOIndices.bind();
+
+ // Draw the geometry of the box
+ glDrawElements(GL_TRIANGLES, 36, GL_UNSIGNED_INT, (char*)NULL);
+
+ // Unbind the VBOs
+ mVBOVertices.unbind();
+ mVBOIndices.unbind();
+
+ // Disable the arrays
+ glDisableClientState(GL_VERTEX_ARRAY);
+ glDisableClientState(GL_COLOR_ARRAY);
+ glDisableClientState(GL_NORMAL_ARRAY);
+
+ // Unbind the shader
+ shader.unbind();
+}
+
+// Update the transform matrix of the box
+void Box::updateTransform() {
+
+ // Get the interpolated transform of the rigid body
+ rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+ // Compute the transform used for rendering the box
+ 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 box dimensions
+ mTransformMatrix = newMatrix * mScalingMatrix;
+}
+
+// Create the Vertex Buffer Objects used to render to box with OpenGL.
+/// We create two VBOs (one for vertices and one for indices) to render all the boxes
+/// in the simulation.
+void Box::createVBO() {
+
+ // Create the VBOs
+ mVBOVertices.create();
+ mVBOIndices.create();
+
+ // Copy the data into the VBOs
+ mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW);
+ mVBOIndices.copyDataIntoVBO(sizeof(mCubeIndices), mCubeIndices, GL_STATIC_DRAW);
+
+ areVBOsCreated = true;
+}
diff --git a/examples/common/Box.h b/examples/common/Box.h
new file mode 100644
index 00000000..d287c3cb
--- /dev/null
+++ b/examples/common/Box.h
@@ -0,0 +1,111 @@
+/********************************************************************************
+* 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 BOX_H
+#define BOX_H
+
+// Libraries
+#include "openglframework.h"
+#include "reactphysics3d.h"
+
+// Structure VertexData
+struct VertexData {
+
+ /// Vertex position
+ openglframework::Vector3 position;
+
+ /// Vertex normal
+ openglframework::Vector3 normal;
+
+ // Vertex color
+ openglframework::Color color;
+};
+
+// Class Box
+class Box : public openglframework::Object3D {
+
+ private :
+
+ // -------------------- Attributes -------------------- //
+
+ /// Size of each side of the box
+ float mSize[3];
+
+ /// Rigid body used to simulate the dynamics of the box
+ rp3d::RigidBody* mRigidBody;
+
+ /// Collision shape of the rigid body
+ rp3d::BoxShape* mCollisionShape;
+
+ /// Scaling matrix (applied to a cube to obtain the correct box dimensions)
+ openglframework::Matrix4 mScalingMatrix;
+
+ /// Vertex Buffer Object for the vertices data used to render the box with OpenGL
+ static openglframework::VertexBufferObject mVBOVertices;
+
+ /// Vertex Buffer Object for the indices used to render the box with OpenGL
+ static openglframework::VertexBufferObject mVBOIndices;
+
+ /// Vertex data for each vertex of the cube (used to render the box)
+ static VertexData mCubeVertices[8];
+
+ /// Indices of the cube (used to render the box)
+ static GLuint mCubeIndices[36];
+
+ /// True if the VBOs have already been created
+ static bool areVBOsCreated;
+
+ // -------------------- Methods -------------------- //
+
+ /// Create a Vertex Buffer Object to render to box with OpenGL
+ static void createVBO();
+
+ public :
+
+ // -------------------- Methods -------------------- //
+
+ /// Constructor
+ Box(const openglframework::Vector3& size, const openglframework::Vector3& position,
+ float mass, rp3d::DynamicsWorld* dynamicsWorld);
+
+ /// Destructor
+ ~Box();
+
+ /// Return a pointer to the rigid body of the box
+ rp3d::RigidBody* getRigidBody();
+
+ /// Update the transform matrix of the box
+ void updateTransform();
+
+ /// Render the cube at the correct position and with the correct orientation
+ void render(openglframework::Shader& shader);
+};
+
+// Return a pointer to the rigid body of the box
+inline rp3d::RigidBody* Box::getRigidBody() {
+ return mRigidBody;
+}
+
+#endif
diff --git a/examples/common/CMakeLists.txt b/examples/common/CMakeLists.txt
new file mode 100644
index 00000000..ba4484e0
--- /dev/null
+++ b/examples/common/CMakeLists.txt
@@ -0,0 +1,4 @@
+# Minimum cmake version required
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+add_subdirectory(opengl-framework/)
diff --git a/examples/common/Viewer.cpp b/examples/common/Viewer.cpp
new file mode 100644
index 00000000..1f99d4dc
--- /dev/null
+++ b/examples/common/Viewer.cpp
@@ -0,0 +1,83 @@
+/********************************************************************************
+* 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 "Viewer.h"
+#include "openglframework.h"
+#include <sstream>
+
+// Constructor
+Viewer::Viewer() : openglframework::GlutViewer(), fps(0), nbFrames(0) {
+
+}
+
+// Compute the FPS
+void Viewer::computeFPS() {
+
+ nbFrames++;
+
+ // Get the number of milliseconds since glutInit called
+ currentTime = glutGet(GLUT_ELAPSED_TIME);
+
+ // Calculate time passed
+ int timeInterval = currentTime - previousTime;
+
+ // Update the FPS counter each second
+ if(timeInterval > 1000){
+
+ // calculate the number of frames per second
+ fps = nbFrames / (timeInterval / 1000.0f);
+
+ // Set time
+ previousTime = currentTime;
+
+ // Reset frame count
+ nbFrames = 0;
+ }
+}
+
+// Display the GUI
+void Viewer::displayGUI() {
+
+ // Display the FPS
+ displayFPS();
+}
+
+// Display the FPS
+void Viewer::displayFPS() {
+
+ glMatrixMode(GL_PROJECTION);
+ glLoadIdentity();
+ glOrtho(0, mCamera.getWidth(), mCamera.getHeight(), 0, -1, 1);
+
+ glMatrixMode(GL_MODELVIEW);
+ glLoadIdentity();
+
+ glRasterPos2i(10, 20);
+ glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
+ std::stringstream ss;
+ ss << "FPS : " << fps;
+ glutBitmapString(GLUT_BITMAP_HELVETICA_12, (const unsigned char*)ss.str().c_str());
+}
diff --git a/examples/common/Viewer.h b/examples/common/Viewer.h
new file mode 100644
index 00000000..572154fa
--- /dev/null
+++ b/examples/common/Viewer.h
@@ -0,0 +1,71 @@
+/********************************************************************************
+* 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 VIEWER_H
+#define VIEWER_H
+
+// Libraries
+#include "openglframework.h"
+
+// Class Viewer
+class Viewer : public openglframework::GlutViewer {
+
+ private :
+
+ // -------------------- Attributes -------------------- //
+
+ /// Current number of frames per seconds
+ int fps;
+
+ /// Number of frames during the last second
+ int nbFrames;
+
+ /// Current time for fps computation
+ int currentTime;
+
+ /// Previous time for fps computation
+ int previousTime;
+
+ // -------------------- Methods -------------------- //
+
+ /// Display the FPS
+ void displayFPS();
+
+ public :
+
+ // -------------------- Methods -------------------- //
+
+ /// Constructor
+ Viewer();
+
+ /// Compute the FPS
+ void computeFPS();
+
+ /// Display the GUI
+ void displayGUI();
+
+};
+
+#endif
diff --git a/examples/opengl-framework/CMakeLists.txt b/examples/common/opengl-framework/CMakeLists.txt
similarity index 100%
rename from examples/opengl-framework/CMakeLists.txt
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rename from examples/opengl-framework/freeglut/freeglut_overlay.c
rename to examples/common/opengl-framework/freeglut/freeglut_overlay.c
diff --git a/examples/opengl-framework/freeglut/freeglut_spaceball.c b/examples/common/opengl-framework/freeglut/freeglut_spaceball.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_spaceball.c
rename to examples/common/opengl-framework/freeglut/freeglut_spaceball.c
diff --git a/examples/opengl-framework/freeglut/freeglut_state.c b/examples/common/opengl-framework/freeglut/freeglut_state.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_state.c
rename to examples/common/opengl-framework/freeglut/freeglut_state.c
diff --git a/examples/opengl-framework/freeglut/freeglut_stroke_mono_roman.c b/examples/common/opengl-framework/freeglut/freeglut_stroke_mono_roman.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_stroke_mono_roman.c
rename to examples/common/opengl-framework/freeglut/freeglut_stroke_mono_roman.c
diff --git a/examples/opengl-framework/freeglut/freeglut_stroke_roman.c b/examples/common/opengl-framework/freeglut/freeglut_stroke_roman.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_stroke_roman.c
rename to examples/common/opengl-framework/freeglut/freeglut_stroke_roman.c
diff --git a/examples/opengl-framework/freeglut/freeglut_structure.c b/examples/common/opengl-framework/freeglut/freeglut_structure.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_structure.c
rename to examples/common/opengl-framework/freeglut/freeglut_structure.c
diff --git a/examples/opengl-framework/freeglut/freeglut_teapot.c b/examples/common/opengl-framework/freeglut/freeglut_teapot.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_teapot.c
rename to examples/common/opengl-framework/freeglut/freeglut_teapot.c
diff --git a/examples/opengl-framework/freeglut/freeglut_teapot_data.h b/examples/common/opengl-framework/freeglut/freeglut_teapot_data.h
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_teapot_data.h
rename to examples/common/opengl-framework/freeglut/freeglut_teapot_data.h
diff --git a/examples/opengl-framework/freeglut/freeglut_videoresize.c b/examples/common/opengl-framework/freeglut/freeglut_videoresize.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_videoresize.c
rename to examples/common/opengl-framework/freeglut/freeglut_videoresize.c
diff --git a/examples/opengl-framework/freeglut/freeglut_window.c b/examples/common/opengl-framework/freeglut/freeglut_window.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_window.c
rename to examples/common/opengl-framework/freeglut/freeglut_window.c
diff --git a/examples/opengl-framework/freeglut/freeglut_xinput.c b/examples/common/opengl-framework/freeglut/freeglut_xinput.c
similarity index 100%
rename from examples/opengl-framework/freeglut/freeglut_xinput.c
rename to examples/common/opengl-framework/freeglut/freeglut_xinput.c
diff --git a/examples/opengl-framework/freeglut/glut.h b/examples/common/opengl-framework/freeglut/glut.h
similarity index 100%
rename from examples/opengl-framework/freeglut/glut.h
rename to examples/common/opengl-framework/freeglut/glut.h
diff --git a/examples/opengl-framework/src/Camera.cpp b/examples/common/opengl-framework/src/Camera.cpp
similarity index 100%
rename from examples/opengl-framework/src/Camera.cpp
rename to examples/common/opengl-framework/src/Camera.cpp
diff --git a/examples/opengl-framework/src/Camera.h b/examples/common/opengl-framework/src/Camera.h
similarity index 100%
rename from examples/opengl-framework/src/Camera.h
rename to examples/common/opengl-framework/src/Camera.h
diff --git a/examples/opengl-framework/src/FrameBufferObject.cpp b/examples/common/opengl-framework/src/FrameBufferObject.cpp
similarity index 100%
rename from examples/opengl-framework/src/FrameBufferObject.cpp
rename to examples/common/opengl-framework/src/FrameBufferObject.cpp
diff --git a/examples/opengl-framework/src/FrameBufferObject.h b/examples/common/opengl-framework/src/FrameBufferObject.h
similarity index 100%
rename from examples/opengl-framework/src/FrameBufferObject.h
rename to examples/common/opengl-framework/src/FrameBufferObject.h
diff --git a/examples/opengl-framework/src/GlutViewer.cpp b/examples/common/opengl-framework/src/GlutViewer.cpp
similarity index 97%
rename from examples/opengl-framework/src/GlutViewer.cpp
rename to examples/common/opengl-framework/src/GlutViewer.cpp
index d0dc9bed..45cf639d 100644
--- a/examples/opengl-framework/src/GlutViewer.cpp
+++ b/examples/common/opengl-framework/src/GlutViewer.cpp
@@ -168,6 +168,16 @@ void GlutViewer::mouseMotionEvent(int xMouse, int yMouse) {
glutPostRedisplay();
}
+// Called when a GLUT keyboard event occurs
+void GlutViewer::keyboardEvent(int key, int xMouse, int yMouse) {
+
+}
+
+// Called when a GLUT special keyboard event occurs
+void GlutViewer::keyboardSpecialEvent(int key, int xMouse, int yMouse) {
+
+}
+
// Map the mouse x,y coordinates to a point on a sphere
bool GlutViewer::mapMouseCoordinatesToSphere(int xMouse, int yMouse, Vector3& spherePoint) const {
diff --git a/examples/opengl-framework/src/GlutViewer.h b/examples/common/opengl-framework/src/GlutViewer.h
similarity index 95%
rename from examples/opengl-framework/src/GlutViewer.h
rename to examples/common/opengl-framework/src/GlutViewer.h
index b5916179..7718a1af 100644
--- a/examples/opengl-framework/src/GlutViewer.h
+++ b/examples/common/opengl-framework/src/GlutViewer.h
@@ -39,7 +39,7 @@ namespace openglframework {
// Class Renderer
class GlutViewer {
- private:
+ protected :
// -------------------- Attributes -------------------- //
@@ -81,7 +81,7 @@ class GlutViewer {
GlutViewer();
// Destructor
- ~GlutViewer();
+ virtual ~GlutViewer();
// Initialize the viewer
bool init(int argc, char** argv, const std::string& windowsTitle,
@@ -112,16 +112,17 @@ class GlutViewer {
// Get the camera
Camera& getCamera();
- void motion(int x, int y);
-
// Called when a GLUT mouse button event occurs
void mouseButtonEvent(int button, int state, int x, int y);
// Called when a GLUT mouse motion event occurs
void mouseMotionEvent(int xMouse, int yMouse);
- void keyboard(int key, int x, int y);
- void special(int key, int x, int y);
+ // Called when a GLUT keyboard event occurs
+ void keyboardEvent(int key, int xMouse, int yMouse);
+
+ // Called when a GLUT special keyboard event occurs
+ void keyboardSpecialEvent(int key, int xMouse, int yMouse);
// Check the OpenGL errors
static void checkOpenGLErrors();
diff --git a/examples/opengl-framework/src/Light.cpp b/examples/common/opengl-framework/src/Light.cpp
similarity index 100%
rename from examples/opengl-framework/src/Light.cpp
rename to examples/common/opengl-framework/src/Light.cpp
diff --git a/examples/opengl-framework/src/Light.h b/examples/common/opengl-framework/src/Light.h
similarity index 100%
rename from examples/opengl-framework/src/Light.h
rename to examples/common/opengl-framework/src/Light.h
diff --git a/examples/opengl-framework/src/Mesh.cpp b/examples/common/opengl-framework/src/Mesh.cpp
similarity index 100%
rename from examples/opengl-framework/src/Mesh.cpp
rename to examples/common/opengl-framework/src/Mesh.cpp
diff --git a/examples/opengl-framework/src/Mesh.h b/examples/common/opengl-framework/src/Mesh.h
similarity index 100%
rename from examples/opengl-framework/src/Mesh.h
rename to examples/common/opengl-framework/src/Mesh.h
diff --git a/examples/opengl-framework/src/MeshReaderWriter.cpp b/examples/common/opengl-framework/src/MeshReaderWriter.cpp
similarity index 100%
rename from examples/opengl-framework/src/MeshReaderWriter.cpp
rename to examples/common/opengl-framework/src/MeshReaderWriter.cpp
diff --git a/examples/opengl-framework/src/MeshReaderWriter.h b/examples/common/opengl-framework/src/MeshReaderWriter.h
similarity index 100%
rename from examples/opengl-framework/src/MeshReaderWriter.h
rename to examples/common/opengl-framework/src/MeshReaderWriter.h
diff --git a/examples/opengl-framework/src/Object3D.cpp b/examples/common/opengl-framework/src/Object3D.cpp
similarity index 100%
rename from examples/opengl-framework/src/Object3D.cpp
rename to examples/common/opengl-framework/src/Object3D.cpp
diff --git a/examples/opengl-framework/src/Object3D.h b/examples/common/opengl-framework/src/Object3D.h
similarity index 100%
rename from examples/opengl-framework/src/Object3D.h
rename to examples/common/opengl-framework/src/Object3D.h
diff --git a/examples/opengl-framework/src/Shader.cpp b/examples/common/opengl-framework/src/Shader.cpp
similarity index 100%
rename from examples/opengl-framework/src/Shader.cpp
rename to examples/common/opengl-framework/src/Shader.cpp
diff --git a/examples/opengl-framework/src/Shader.h b/examples/common/opengl-framework/src/Shader.h
similarity index 100%
rename from examples/opengl-framework/src/Shader.h
rename to examples/common/opengl-framework/src/Shader.h
diff --git a/examples/opengl-framework/src/Texture2D.cpp b/examples/common/opengl-framework/src/Texture2D.cpp
similarity index 100%
rename from examples/opengl-framework/src/Texture2D.cpp
rename to examples/common/opengl-framework/src/Texture2D.cpp
diff --git a/examples/opengl-framework/src/Texture2D.h b/examples/common/opengl-framework/src/Texture2D.h
similarity index 100%
rename from examples/opengl-framework/src/Texture2D.h
rename to examples/common/opengl-framework/src/Texture2D.h
diff --git a/examples/opengl-framework/src/TextureReaderWriter.cpp b/examples/common/opengl-framework/src/TextureReaderWriter.cpp
similarity index 100%
rename from examples/opengl-framework/src/TextureReaderWriter.cpp
rename to examples/common/opengl-framework/src/TextureReaderWriter.cpp
diff --git a/examples/opengl-framework/src/TextureReaderWriter.h b/examples/common/opengl-framework/src/TextureReaderWriter.h
similarity index 100%
rename from examples/opengl-framework/src/TextureReaderWriter.h
rename to examples/common/opengl-framework/src/TextureReaderWriter.h
diff --git a/examples/opengl-framework/src/VertexBufferObject.cpp b/examples/common/opengl-framework/src/VertexBufferObject.cpp
similarity index 100%
rename from examples/opengl-framework/src/VertexBufferObject.cpp
rename to examples/common/opengl-framework/src/VertexBufferObject.cpp
diff --git a/examples/opengl-framework/src/VertexBufferObject.h b/examples/common/opengl-framework/src/VertexBufferObject.h
similarity index 100%
rename from examples/opengl-framework/src/VertexBufferObject.h
rename to examples/common/opengl-framework/src/VertexBufferObject.h
diff --git a/examples/opengl-framework/src/definitions.h b/examples/common/opengl-framework/src/definitions.h
similarity index 100%
rename from examples/opengl-framework/src/definitions.h
rename to examples/common/opengl-framework/src/definitions.h
diff --git a/examples/opengl-framework/src/maths/Color.h b/examples/common/opengl-framework/src/maths/Color.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Color.h
rename to examples/common/opengl-framework/src/maths/Color.h
diff --git a/examples/opengl-framework/src/maths/Matrix3.h b/examples/common/opengl-framework/src/maths/Matrix3.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Matrix3.h
rename to examples/common/opengl-framework/src/maths/Matrix3.h
diff --git a/examples/opengl-framework/src/maths/Matrix4.h b/examples/common/opengl-framework/src/maths/Matrix4.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Matrix4.h
rename to examples/common/opengl-framework/src/maths/Matrix4.h
diff --git a/examples/opengl-framework/src/maths/Vector2.h b/examples/common/opengl-framework/src/maths/Vector2.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Vector2.h
rename to examples/common/opengl-framework/src/maths/Vector2.h
diff --git a/examples/opengl-framework/src/maths/Vector3.h b/examples/common/opengl-framework/src/maths/Vector3.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Vector3.h
rename to examples/common/opengl-framework/src/maths/Vector3.h
diff --git a/examples/opengl-framework/src/maths/Vector4.h b/examples/common/opengl-framework/src/maths/Vector4.h
similarity index 100%
rename from examples/opengl-framework/src/maths/Vector4.h
rename to examples/common/opengl-framework/src/maths/Vector4.h
diff --git a/examples/opengl-framework/src/openglframework.h b/examples/common/opengl-framework/src/openglframework.h
similarity index 100%
rename from examples/opengl-framework/src/openglframework.h
rename to examples/common/opengl-framework/src/openglframework.h
diff --git a/examples/opengl-framework/src/shaders/depth.frag b/examples/common/opengl-framework/src/shaders/depth.frag
similarity index 100%
rename from examples/opengl-framework/src/shaders/depth.frag
rename to examples/common/opengl-framework/src/shaders/depth.frag
diff --git a/examples/opengl-framework/src/shaders/depth.vert b/examples/common/opengl-framework/src/shaders/depth.vert
similarity index 100%
rename from examples/opengl-framework/src/shaders/depth.vert
rename to examples/common/opengl-framework/src/shaders/depth.vert
diff --git a/examples/opengl-framework/src/shaders/phong.frag b/examples/common/opengl-framework/src/shaders/phong.frag
similarity index 100%
rename from examples/opengl-framework/src/shaders/phong.frag
rename to examples/common/opengl-framework/src/shaders/phong.frag
diff --git a/examples/opengl-framework/src/shaders/phong.vert b/examples/common/opengl-framework/src/shaders/phong.vert
similarity index 100%
rename from examples/opengl-framework/src/shaders/phong.vert
rename to examples/common/opengl-framework/src/shaders/phong.vert
diff --git a/examples/fallingcubes/CMakeLists.txt b/examples/fallingcubes/CMakeLists.txt
index 4dcb291f..a7b5ee34 100644
--- a/examples/fallingcubes/CMakeLists.txt
+++ b/examples/fallingcubes/CMakeLists.txt
@@ -5,13 +5,13 @@ cmake_minimum_required(VERSION 2.6)
PROJECT(FallingCubes)
# Copy the shaders used for the demo into the build directory
-FILE(COPY "../opengl-framework/src/shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/")
+FILE(COPY "../common/opengl-framework/src/shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/")
# Headers
-INCLUDE_DIRECTORIES("../opengl-framework/src/")
+INCLUDE_DIRECTORIES("../common/opengl-framework/src/" "../common/")
# Create the example executable using the
# compiled reactphysics3d static library
-ADD_EXECUTABLE(fallingcubes main.cpp Scene.cpp Scene.h Box.cpp Box.h)
+ADD_EXECUTABLE(fallingcubes FallingCubes.cpp Scene.cpp Scene.h "../common/Box.cpp" "../common/Box.h" "../common/Viewer.cpp" "../common/Viewer.h")
TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d openglframework)
diff --git a/examples/fallingcubes/main.cpp b/examples/fallingcubes/FallingCubes.cpp
similarity index 72%
rename from examples/fallingcubes/main.cpp
rename to examples/fallingcubes/FallingCubes.cpp
index 6dbfc7f4..65f8f485 100644
--- a/examples/fallingcubes/main.cpp
+++ b/examples/fallingcubes/FallingCubes.cpp
@@ -25,40 +25,32 @@
// Libraries
#include "Scene.h"
-#include <sstream>
+#include "Viewer.h"
// Declarations
void simulate();
void display();
-void displayFPS();
-void computeFPS();
+void finish();
void reshape(int width, int height);
void mouseButton(int button, int state, int x, int y);
void mouseMotion(int x, int y);
-void keyboardSpecial(int key, int x, int y);
+void keyboard(unsigned char key, int x, int y);
void init();
// Namespaces
using namespace openglframework;
// Global variables
-GlutViewer* viewer;
+Viewer* viewer;
Scene* scene;
-int fps;
-int nbFrames;
-int currentTime;
-int previousTime;
-int width, height;
// Main function
int main(int argc, char** argv) {
// Create and initialize the Viewer
- viewer = new GlutViewer();
+ viewer = new Viewer();
Vector2 windowsSize = Vector2(800, 600);
Vector2 windowsPosition = Vector2(100, 100);
- width = windowsSize.x;
- height = windowsSize.y;
bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Falling Cubes", windowsSize, windowsPosition);
if (!initOK) return 1;
@@ -67,21 +59,18 @@ int main(int argc, char** argv) {
init();
- nbFrames = 0;
-
// Glut Idle function that is continuously called
glutIdleFunc(simulate);
glutDisplayFunc(display);
glutReshapeFunc(reshape);
glutMouseFunc(mouseButton);
glutMotionFunc(mouseMotion);
- glutSpecialFunc(keyboardSpecial);
+ glutKeyboardFunc(keyboard);
// Glut main looop
glutMainLoop();
- delete viewer;
- delete scene;
+ finish();
return 0;
}
@@ -92,7 +81,7 @@ void simulate() {
// Physics simulation
scene->simulate();
- computeFPS();
+ viewer->computeFPS();
// Ask GLUT to render the scene
glutPostRedisplay ();
@@ -108,8 +97,6 @@ void init() {
// Reshape function
void reshape(int newWidth, int newHeight) {
viewer->reshape(newWidth, newHeight);
- width = newWidth;
- height = newHeight;
}
// Called when a mouse button event occurs
@@ -123,12 +110,28 @@ void mouseMotion(int x, int y) {
}
// Called when the user hits a special key on the keyboard
-void keyboardSpecial(int key, int x, int y) {
- /*
- if(key=='0')
+void keyboard(unsigned char key, int x, int y) {
+ switch(key) {
+
+ // Escape key
+ case 27:
+ finish();
exit(0);
- if(key== GLUT_KEY_RIGHT) {
- */
+ break;
+
+ // Space bar
+ case 32:
+ scene->pauseContinueSimulation();
+ break;
+ }
+}
+
+// End of the application
+void finish() {
+
+ // Destroy the viewer and the scene
+ delete viewer;
+ delete scene;
}
// Display the scene
@@ -138,7 +141,7 @@ void display() {
scene->render();
// Display the FPS
- displayFPS();
+ viewer->displayGUI();
// Swap the buffers
glutSwapBuffers();
@@ -147,43 +150,4 @@ void display() {
GlutViewer::checkOpenGLErrors();
}
-// Compute the FPS
-void computeFPS() {
- nbFrames++;
- // Get the number of milliseconds since glutInit called
- currentTime = glutGet(GLUT_ELAPSED_TIME);
-
- // Calculate time passed
- int timeInterval = currentTime - previousTime;
-
- // Update the FPS counter each second
- if(timeInterval > 1000){
-
- // calculate the number of frames per second
- fps = nbFrames / (timeInterval / 1000.0f);
-
- // Set time
- previousTime = currentTime;
-
- // Reset frame count
- nbFrames = 0;
- }
-}
-
-// Display the FPS
-void displayFPS() {
-
- glMatrixMode(GL_PROJECTION);
- glLoadIdentity();
- glOrtho(0, width, height, 0, -1, 1);
-
- glMatrixMode(GL_MODELVIEW);
- glLoadIdentity();
-
- glRasterPos2i(10, 20);
- glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
- std::stringstream ss;
- ss << "FPS : " << fps;
- glutBitmapString(GLUT_BITMAP_HELVETICA_12, (const unsigned char*)ss.str().c_str());
-}
diff --git a/examples/fallingcubes/Scene.cpp b/examples/fallingcubes/Scene.cpp
index 71a84821..693a0fa5 100644
--- a/examples/fallingcubes/Scene.cpp
+++ b/examples/fallingcubes/Scene.cpp
@@ -32,32 +32,40 @@ using namespace openglframework;
// Constructor
Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
mPhongShader("shaders/phong.vert",
- "shaders/phong.frag"){
+ "shaders/phong.frag"), mIsRunning(false) {
// Move the light 0
mLight0.translateWorld(Vector3(7, 15, 15));
// Compute the radius and the center of the scene
- float radius = 10.0f;
+ float radiusScene = 10.0f;
openglframework::Vector3 center(0, 5, 0);
// Set the center of the scene
- mViewer->setScenePosition(center, radius);
+ mViewer->setScenePosition(center, radiusScene);
// Gravity vector in the dynamics world
rp3d::Vector3 gravity(0, -9.81, 0);
// Time step for the physics simulation
- rp3d::decimal timeStep = 1.0f / 80.0f;
+ rp3d::decimal timeStep = 1.0f / 60.0f;
// Create the dynamics world for the physics simulation
mDynamicsWorld = new rp3d::DynamicsWorld(gravity, timeStep);
+ // Set the number of iterations of the constraint solver
+ mDynamicsWorld->setNbIterationsSolver(15);
+
+ float radius = 2.0f;
+
// Create all the cubes of the scene
for (int i=0; i<NB_BOXES; i++) {
// Position of the cubes
- openglframework::Vector3 position(0, 5 + i * (BOX_SIZE.y + 0.5f), 0);
+ float angle = i * 30.0f;
+ openglframework::Vector3 position(radius * cos(angle),
+ 1 + i * (BOX_SIZE.y + 0.3f),
+ radius * sin(angle));
// Create a cube and a corresponding rigid in the dynamics world
Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
@@ -83,14 +91,14 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
mFloor->getRigidBody()->setRestitution(0.3);
// Start the simulation
- mDynamicsWorld->start();
+ startSimulation();
}
// Destructor
Scene::~Scene() {
// Stop the physics simulation
- mDynamicsWorld->stop();
+ stopSimulation();
// Destroy the shader
mPhongShader.destroy();
@@ -118,17 +126,22 @@ Scene::~Scene() {
// Take a step for the simulation
void Scene::simulate() {
- // Take a simulation step
- mDynamicsWorld->update();
+ // If the physics simulation is running
+ if (mIsRunning) {
- // Update the position and orientation of the boxes
- for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+ // Take a simulation step
+ mDynamicsWorld->update();
+
+ // Update the position and orientation of the boxes
+ for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+
+ // Update the transform used for the rendering
+ (*it)->updateTransform();
+ }
+
+ mFloor->updateTransform();
- // Update the transform used for the rendering
- (*it)->updateTransform();
}
-
- mFloor->updateTransform();
}
// Render the scene
@@ -136,7 +149,7 @@ void Scene::render() {
glEnable(GL_DEPTH_TEST);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
- glDisable(GL_CULL_FACE);
+ glEnable(GL_CULL_FACE);
// Bind the shader
mPhongShader.bind();
diff --git a/examples/fallingcubes/Scene.h b/examples/fallingcubes/Scene.h
index a865d8e0..3741962e 100644
--- a/examples/fallingcubes/Scene.h
+++ b/examples/fallingcubes/Scene.h
@@ -32,7 +32,7 @@
#include "Box.h"
// Constants
-const int NB_BOXES = 10; // Number of boxes in the scene
+const int NB_BOXES = 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
@@ -63,6 +63,9 @@ class Scene {
/// Dynamics world used for the physics simulation
rp3d::DynamicsWorld* mDynamicsWorld;
+ /// True if the physics simulation is running
+ bool mIsRunning;
+
public:
// -------------------- Methods -------------------- //
@@ -76,8 +79,39 @@ class Scene {
/// Take a step for the simulation
void simulate();
+ /// Stop the simulation
+ void stopSimulation();
+
+ /// Start the simulation
+ void startSimulation();
+
+ /// Pause or continue simulation
+ void pauseContinueSimulation();
+
/// Render the scene
void render();
};
+// Stop the simulation
+inline void Scene::stopSimulation() {
+ mDynamicsWorld->stop();
+ mIsRunning = false;
+}
+
+// Start the simulation
+inline void Scene::startSimulation() {
+ mDynamicsWorld->start();
+ mIsRunning = true;
+}
+
+// Pause or continue simulation
+inline void Scene::pauseContinueSimulation() {
+ if (mIsRunning) {
+ stopSimulation();
+ }
+ else {
+ startSimulation();
+ }
+}
+
#endif
diff --git a/src/engine/DynamicsWorld.h b/src/engine/DynamicsWorld.h
index fb66aa7b..1519b369 100644
--- a/src/engine/DynamicsWorld.h
+++ b/src/engine/DynamicsWorld.h
@@ -215,7 +215,6 @@ inline void DynamicsWorld::start() {
}
inline void DynamicsWorld::stop() {
- std::cout << "Stop Simulation" << std::endl;
mTimer.stop();
}