Add raycasting example
This commit is contained in:
Daniel Chappuis
parent
4ae7e7997a
commit
c1fa7b0f50
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@ -8,3 +8,4 @@ ADD_SUBDIRECTORY(common/)
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ADD_SUBDIRECTORY(cubes/)
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ADD_SUBDIRECTORY(joints/)
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ADD_SUBDIRECTORY(collisionshapes/)
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ADD_SUBDIRECTORY(raycast/)
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@ -58,7 +58,7 @@ GLuint Box::mCubeIndices[36] = { 0, 1, 2,
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// Constructor
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Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
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float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
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reactphysics3d::CollisionWorld* world)
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: openglframework::Object3D(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
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// Initialize the size of the box
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@ -86,16 +86,64 @@ Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &p
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body in the dynamics world
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mRigidBody = dynamicsWorld->createRigidBody(transform);
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mRigidBody = world->createCollisionBody(transform);
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// Add the collision shape to the body
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mRigidBody->addCollisionShape(collisionShape, mass);
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mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
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// If the Vertex Buffer object has not been created yet
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if (!areVBOsCreated) {
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// Create the Vertex Buffer
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createVBO();
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}
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
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float mass, reactphysics3d::DynamicsWorld* world)
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: openglframework::Object3D(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
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// Initialize the size of the box
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mSize[0] = size.x * 0.5f;
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mSize[1] = size.y * 0.5f;
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mSize[2] = size.z * 0.5f;
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
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0, mSize[1], 0, 0,
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0, 0, mSize[2], 0,
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0, 0, 0, 1);
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// Initialize the position where the cube will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (box shape)
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body in the dynamics world
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rp3d::RigidBody* body = world->createRigidBody(transform);
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// Add the collision shape to the body
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body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
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mRigidBody = body;
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// If the Vertex Buffer object has not been created yet
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if (!areVBOsCreated) {
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// Create the Vertex Buffer
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createVBO();
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}
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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@ -54,7 +54,7 @@ class Box : public openglframework::Object3D {
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float mSize[3];
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/// Rigid body used to simulate the dynamics of the box
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rp3d::RigidBody* mRigidBody;
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rp3d::CollisionBody* mRigidBody;
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/// Scaling matrix (applied to a cube to obtain the correct box dimensions)
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openglframework::Matrix4 mScalingMatrix;
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@ -88,13 +88,20 @@ class Box : public openglframework::Object3D {
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/// Constructor
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Box(const openglframework::Vector3& size, const openglframework::Vector3& position,
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float mass, rp3d::DynamicsWorld* dynamicsWorld);
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reactphysics3d::CollisionWorld* world);
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/// Constructor
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Box(const openglframework::Vector3& size, const openglframework::Vector3& position,
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float mass, reactphysics3d::DynamicsWorld *world);
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/// Destructor
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~Box();
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/// Return a pointer to the collision body of the box
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reactphysics3d::CollisionBody* getCollisionBody();
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/// Return a pointer to the rigid body of the box
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rp3d::RigidBody* getRigidBody();
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reactphysics3d::RigidBody* getRigidBody();
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/// Update the transform matrix of the box
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void updateTransform();
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@ -106,9 +113,14 @@ class Box : public openglframework::Object3D {
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void setColor(const openglframework::Color& color);
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};
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// Return a pointer to the collision body of the box
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inline rp3d::CollisionBody* Box::getCollisionBody() {
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return mRigidBody;
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}
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// Return a pointer to the rigid body of the box
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inline rp3d::RigidBody* Box::getRigidBody() {
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return mRigidBody;
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return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
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}
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// Set the color of the box
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@ -26,6 +26,45 @@
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// Libraries
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#include "Capsule.h"
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// Constructor
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Capsule::Capsule(float radius, float height, const openglframework::Vector3& position,
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reactphysics3d::CollisionWorld* world,
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const std::string& meshFolderPath)
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: openglframework::Mesh(), mRadius(radius), mHeight(height) {
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "capsule.obj", *this);
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// Calculate the normals of the mesh
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calculateNormals();
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
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0, (mHeight + 2.0f * mRadius) / 3.0f, 0,0,
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0, 0, mRadius, 0,
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0, 0, 0, 1.0f);
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (sphere shape)
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::CapsuleShape collisionShape(mRadius, mHeight);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding in the dynamics world
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mRigidBody = world->createCollisionBody(transform);
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// Add a collision shape to the body and specify the mass of the shape
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mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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Capsule::Capsule(float radius, float height, const openglframework::Vector3& position,
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@ -59,10 +98,14 @@ Capsule::Capsule(float radius, float height, const openglframework::Vector3& pos
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding in the dynamics world
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mRigidBody = dynamicsWorld->createRigidBody(transform);
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rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
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// Add a collision shape to the body and specify the mass of the shape
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mRigidBody->addCollisionShape(collisionShape, mass);
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body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
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mRigidBody = body;
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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@ -44,7 +44,7 @@ class Capsule : public openglframework::Mesh {
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float mHeight;
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/// Rigid body used to simulate the dynamics of the sphere
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rp3d::RigidBody* mRigidBody;
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rp3d::CollisionBody* mRigidBody;
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/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
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openglframework::Matrix4 mScalingMatrix;
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@ -57,13 +57,21 @@ class Capsule : public openglframework::Mesh {
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/// Constructor
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Capsule(float radius, float height, const openglframework::Vector3& position,
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float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
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reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath);
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/// Constructor
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Capsule(float radius, float height, const openglframework::Vector3& position,
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float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
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const std::string& meshFolderPath);
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/// Destructor
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~Capsule();
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/// Return a pointer to the rigid body of the sphere
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rp3d::RigidBody* getRigidBody();
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/// Return a pointer to the collision body of the box
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reactphysics3d::CollisionBody* getCollisionBody();
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/// Return a pointer to the rigid body of the box
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reactphysics3d::RigidBody* getRigidBody();
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/// Update the transform matrix of the sphere
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void updateTransform();
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@ -73,9 +81,14 @@ class Capsule : public openglframework::Mesh {
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const openglframework::Matrix4& worldToCameraMatrix);
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};
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// Return a pointer to the rigid body of the sphere
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inline rp3d::RigidBody* Capsule::getRigidBody() {
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// Return a pointer to the collision body of the box
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inline rp3d::CollisionBody* Capsule::getCollisionBody() {
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return mRigidBody;
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}
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// Return a pointer to the rigid body of the box
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inline rp3d::RigidBody* Capsule::getRigidBody() {
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return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
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}
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#endif
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@ -26,6 +26,45 @@
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// Libraries
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#include "Cone.h"
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// Constructor
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Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
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reactphysics3d::CollisionWorld* world,
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const std::string& meshFolderPath)
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: openglframework::Mesh(), mRadius(radius), mHeight(height) {
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "cone.obj", *this);
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// Calculate the normals of the mesh
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calculateNormals();
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
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0, mHeight, 0, 0,
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0, 0, mRadius, 0,
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0, 0, 0, 1);
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// Initialize the position where the cone will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (cone shape)
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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const rp3d::ConeShape collisionShape(mRadius, mHeight);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding to the cone in the dynamics world
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mRigidBody = world->createCollisionBody(transform);
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// Add a collision shape to the body and specify the mass of the shape
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mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
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@ -59,10 +98,14 @@ Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding to the cone in the dynamics world
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mRigidBody = dynamicsWorld->createRigidBody(transform);
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rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
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// Add a collision shape to the body and specify the mass of the shape
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mRigidBody->addCollisionShape(collisionShape, mass);
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body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
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mRigidBody = body;
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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@ -44,7 +44,7 @@ class Cone : public openglframework::Mesh {
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float mHeight;
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/// Rigid body used to simulate the dynamics of the cone
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rp3d::RigidBody* mRigidBody;
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rp3d::CollisionBody* mRigidBody;
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/// Scaling matrix (applied to a sphere to obtain the correct cone dimensions)
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openglframework::Matrix4 mScalingMatrix;
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@ -55,6 +55,10 @@ class Cone : public openglframework::Mesh {
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// -------------------- Methods -------------------- //
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/// Constructor
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Cone(float radius, float height, const openglframework::Vector3& position,
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rp3d::CollisionWorld* world, const std::string& meshFolderPath);
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/// Constructor
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Cone(float radius, float height, const openglframework::Vector3& position,
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float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
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@ -62,8 +66,11 @@ class Cone : public openglframework::Mesh {
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/// Destructor
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~Cone();
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/// Return a pointer to the rigid body of the cone
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rp3d::RigidBody* getRigidBody();
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/// Return a pointer to the collision body of the box
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reactphysics3d::CollisionBody* getCollisionBody();
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/// Return a pointer to the rigid body of the box
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reactphysics3d::RigidBody* getRigidBody();
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/// Update the transform matrix of the cone
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void updateTransform();
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@ -73,9 +80,14 @@ class Cone : public openglframework::Mesh {
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const openglframework::Matrix4& worldToCameraMatrix);
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};
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// Return a pointer to the rigid body of the cone
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inline rp3d::RigidBody* Cone::getRigidBody() {
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// Return a pointer to the collision body of the box
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inline rp3d::CollisionBody* Cone::getCollisionBody() {
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return mRigidBody;
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}
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// Return a pointer to the rigid body of the box
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inline rp3d::RigidBody* Cone::getRigidBody() {
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return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
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}
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#endif
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@ -26,6 +26,56 @@
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// Libraries
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#include "ConvexMesh.h"
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// Constructor
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ConvexMesh::ConvexMesh(const openglframework::Vector3 &position,
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reactphysics3d::CollisionWorld* world,
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const std::string& meshFolderPath)
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: openglframework::Mesh() {
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "convexmesh.obj", *this);
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// Calculate the normals of the mesh
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calculateNormals();
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (convex mesh shape)
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// ReactPhysics3D will clone this object to create an internal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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rp3d::decimal* verticesArray = (rp3d::decimal*) getVerticesPointer();
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rp3d::ConvexMeshShape collisionShape(verticesArray, mVertices.size(),
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sizeof(openglframework::Vector3));
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// Add the edges information of the mesh into the convex mesh collision shape.
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// This is optional but it really speed up the convex mesh collision detection at the
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// cost of some additional memory to store the edges inside the collision shape.
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for (unsigned int i=0; i<getNbFaces(); i++) { // For each triangle face of the mesh
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// Get the three vertex IDs of the vertices of the face
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unsigned int v1 = getVertexIndexInFace(i, 0);
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unsigned int v2 = getVertexIndexInFace(i, 1);
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unsigned int v3 = getVertexIndexInFace(i, 2);
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// Add the three edges into the collision shape
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collisionShape.addEdge(v1, v2);
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collisionShape.addEdge(v1, v3);
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collisionShape.addEdge(v2, v3);
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}
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collisionShape.setIsEdgesInformationUsed(true);// Enable the fast collision detection with edges
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding to the sphere in the dynamics world
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mRigidBody = world->createCollisionBody(transform);
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// Add a collision shape to the body and specify the mass of the collision shape
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mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
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}
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// Constructor
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ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass,
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@ -72,10 +122,12 @@ ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass,
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding to the sphere in the dynamics world
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mRigidBody = dynamicsWorld->createRigidBody(transform);
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rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
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// Add a collision shape to the body and specify the mass of the collision shape
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mRigidBody->addCollisionShape(collisionShape, mass);
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body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
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|
||||
mRigidBody = body;
|
||||
}
|
||||
|
||||
// Destructor
|
||||
|
|
|
|||
|
|
@ -38,7 +38,7 @@ class ConvexMesh : public openglframework::Mesh {
|
|||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Rigid body used to simulate the dynamics of the mesh
|
||||
rp3d::RigidBody* mRigidBody;
|
||||
rp3d::CollisionBody* mRigidBody;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
|
|
@ -46,6 +46,10 @@ class ConvexMesh : public openglframework::Mesh {
|
|||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
ConvexMesh(const openglframework::Vector3& position,
|
||||
rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
ConvexMesh(const openglframework::Vector3& position, float mass,
|
||||
rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
|
|
@ -53,8 +57,11 @@ class ConvexMesh : public openglframework::Mesh {
|
|||
/// Destructor
|
||||
~ConvexMesh();
|
||||
|
||||
/// Return a pointer to the rigid body of the mesh
|
||||
rp3d::RigidBody* getRigidBody();
|
||||
/// Return a pointer to the collision body of the box
|
||||
reactphysics3d::CollisionBody* getCollisionBody();
|
||||
|
||||
/// Return a pointer to the rigid body of the box
|
||||
reactphysics3d::RigidBody* getRigidBody();
|
||||
|
||||
/// Update the transform matrix of the mesh
|
||||
void updateTransform();
|
||||
|
|
@ -64,9 +71,14 @@ class ConvexMesh : public openglframework::Mesh {
|
|||
const openglframework::Matrix4& worldToCameraMatrix);
|
||||
};
|
||||
|
||||
// Return a pointer to the rigid body of the mesh
|
||||
inline rp3d::RigidBody* ConvexMesh::getRigidBody() {
|
||||
// Return a pointer to the collision body of the box
|
||||
inline rp3d::CollisionBody* ConvexMesh::getCollisionBody() {
|
||||
return mRigidBody;
|
||||
}
|
||||
|
||||
// Return a pointer to the rigid body of the box
|
||||
inline rp3d::RigidBody* ConvexMesh::getRigidBody() {
|
||||
return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -26,6 +26,45 @@
|
|||
// Libraries
|
||||
#include "Cylinder.h"
|
||||
|
||||
// Constructor
|
||||
Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& position,
|
||||
reactphysics3d::CollisionWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: openglframework::Mesh(), mRadius(radius), mHeight(height) {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "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 destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::CylinderShape collisionShape(mRadius, mHeight);
|
||||
|
||||
// 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 = world->createCollisionBody(transform);
|
||||
|
||||
// Add a collision shape to the body and specify the mass of the shape
|
||||
mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
}
|
||||
|
||||
// Constructor
|
||||
Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& position,
|
||||
|
|
@ -59,10 +98,14 @@ Cylinder::Cylinder(float radius, float height, const openglframework::Vector3& p
|
|||
rp3d::Transform transform(initPosition, initOrientation);
|
||||
|
||||
// Create a rigid body corresponding to the cylinder in the dynamics world
|
||||
mRigidBody = dynamicsWorld->createRigidBody(transform);
|
||||
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
|
||||
|
||||
// Add a collision shape to the body and specify the mass of the shape
|
||||
mRigidBody->addCollisionShape(collisionShape, mass);
|
||||
body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
|
||||
mRigidBody = body;
|
||||
}
|
||||
|
||||
// Destructor
|
||||
|
|
|
|||
|
|
@ -44,7 +44,7 @@ class Cylinder : public openglframework::Mesh {
|
|||
float mHeight;
|
||||
|
||||
/// Rigid body used to simulate the dynamics of the cylinder
|
||||
rp3d::RigidBody* mRigidBody;
|
||||
rp3d::CollisionBody* mRigidBody;
|
||||
|
||||
/// Scaling matrix (applied to a sphere to obtain the correct cylinder dimensions)
|
||||
openglframework::Matrix4 mScalingMatrix;
|
||||
|
|
@ -55,6 +55,10 @@ class Cylinder : public openglframework::Mesh {
|
|||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Cylinder(float radius, float height, const openglframework::Vector3& position,
|
||||
rp3d::CollisionWorld* world, const std::string &meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Cylinder(float radius, float height, const openglframework::Vector3& position,
|
||||
float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string &meshFolderPath);
|
||||
|
|
@ -62,8 +66,11 @@ class Cylinder : public openglframework::Mesh {
|
|||
/// Destructor
|
||||
~Cylinder();
|
||||
|
||||
/// Return a pointer to the rigid body of the cylinder
|
||||
rp3d::RigidBody* getRigidBody();
|
||||
/// Return a pointer to the collision body of the box
|
||||
reactphysics3d::CollisionBody* getCollisionBody();
|
||||
|
||||
/// Return a pointer to the rigid body of the box
|
||||
reactphysics3d::RigidBody* getRigidBody();
|
||||
|
||||
/// Update the transform matrix of the cylinder
|
||||
void updateTransform();
|
||||
|
|
@ -73,9 +80,14 @@ class Cylinder : public openglframework::Mesh {
|
|||
const openglframework::Matrix4& worldToCameraMatrix);
|
||||
};
|
||||
|
||||
// Return a pointer to the rigid body of the cylinder
|
||||
inline rp3d::RigidBody* Cylinder::getRigidBody() {
|
||||
// Return a pointer to the collision body of the box
|
||||
inline rp3d::CollisionBody* Cylinder::getCollisionBody() {
|
||||
return mRigidBody;
|
||||
}
|
||||
|
||||
// Return a pointer to the rigid body of the box
|
||||
inline rp3d::RigidBody* Cylinder::getRigidBody() {
|
||||
return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -26,7 +26,6 @@
|
|||
// Libraries
|
||||
#include "Dumbbell.h"
|
||||
|
||||
|
||||
// Constructor
|
||||
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
|
||||
reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
|
||||
|
|
@ -75,12 +74,74 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
|
|||
rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
|
||||
|
||||
// Create a rigid body corresponding to the dumbbell in the dynamics world
|
||||
mRigidBody = dynamicsWorld->createRigidBody(transformBody);
|
||||
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transformBody);
|
||||
|
||||
// Add the three collision shapes to the body and specify the mass and transform of the shapes
|
||||
mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape1);
|
||||
mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape2);
|
||||
mRigidBody->addCollisionShape(cylinderCollisionShape, massCylinder, transformCylinderShape);
|
||||
body->addCollisionShape(sphereCollisionShape, transformSphereShape1, massSphere);
|
||||
body->addCollisionShape(sphereCollisionShape, transformSphereShape2, massSphere);
|
||||
body->addCollisionShape(cylinderCollisionShape, transformCylinderShape, massCylinder);
|
||||
|
||||
mBody = body;
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
}
|
||||
|
||||
// Constructor
|
||||
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
|
||||
reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath)
|
||||
: openglframework::Mesh() {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
|
||||
|
||||
// Calculate the normals of the mesh
|
||||
calculateNormals();
|
||||
|
||||
// Identity scaling matrix
|
||||
mScalingMatrix.setToIdentity();
|
||||
|
||||
// Initialize the position where the sphere will be rendered
|
||||
translateWorld(position);
|
||||
|
||||
// Create a sphere collision shape for the two ends of the dumbbell
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
|
||||
const rp3d::decimal massSphere = rp3d::decimal(2.0);
|
||||
const rp3d::SphereShape sphereCollisionShape(radiusSphere);
|
||||
|
||||
// Create a cylinder collision shape for the middle of the dumbbell
|
||||
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
||||
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
|
||||
const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
|
||||
const rp3d::decimal massCylinder = rp3d::decimal(1.0);
|
||||
const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
|
||||
|
||||
// Initial position and orientation of the rigid body
|
||||
rp3d::Vector3 initPosition(position.x, position.y, position.z);
|
||||
rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
|
||||
rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
|
||||
rp3d::Transform transformBody(initPosition, initOrientation);
|
||||
|
||||
// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
|
||||
rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
|
||||
|
||||
// Initial transform of the second sphere collision shape of the dumbell (in local-space)
|
||||
rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
|
||||
|
||||
// Initial transform of the cylinder collision shape of the dumbell (in local-space)
|
||||
rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
|
||||
|
||||
// Create a rigid body corresponding to the dumbbell in the dynamics world
|
||||
mBody = world->createCollisionBody(transformBody);
|
||||
|
||||
// Add the three collision shapes to the body and specify the mass and transform of the shapes
|
||||
mBody->addCollisionShape(sphereCollisionShape, transformSphereShape1);
|
||||
mBody->addCollisionShape(sphereCollisionShape, transformSphereShape2);
|
||||
mBody->addCollisionShape(cylinderCollisionShape, transformCylinderShape);
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
}
|
||||
|
||||
// Destructor
|
||||
|
|
@ -139,7 +200,7 @@ void Dumbbell::render(openglframework::Shader& shader,
|
|||
void Dumbbell::updateTransform() {
|
||||
|
||||
// Get the interpolated transform of the rigid body
|
||||
rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
|
||||
rp3d::Transform transform = mBody->getInterpolatedTransform();
|
||||
|
||||
// Compute the transform used for rendering the sphere
|
||||
rp3d::decimal matrix[16];
|
||||
|
|
|
|||
|
|
@ -41,7 +41,7 @@ class Dumbbell : public openglframework::Mesh {
|
|||
float mRadius;
|
||||
|
||||
/// Rigid body used to simulate the dynamics of the sphere
|
||||
rp3d::RigidBody* mRigidBody;
|
||||
rp3d::CollisionBody* mBody;
|
||||
|
||||
/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
|
||||
openglframework::Matrix4 mScalingMatrix;
|
||||
|
|
@ -56,12 +56,20 @@ class Dumbbell : public openglframework::Mesh {
|
|||
Dumbbell(const openglframework::Vector3& position, rp3d::DynamicsWorld* dynamicsWorld,
|
||||
const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Dumbbell(const openglframework::Vector3& position, rp3d::CollisionWorld* world,
|
||||
const std::string& meshFolderPath);
|
||||
|
||||
|
||||
/// Destructor
|
||||
~Dumbbell();
|
||||
|
||||
/// Return a pointer to the rigid body of the sphere
|
||||
/// Return a pointer to the rigid body
|
||||
rp3d::RigidBody* getRigidBody();
|
||||
|
||||
/// Return a pointer to the body
|
||||
rp3d::CollisionBody* getCollisionBody();
|
||||
|
||||
/// Update the transform matrix of the sphere
|
||||
void updateTransform();
|
||||
|
||||
|
|
@ -72,7 +80,12 @@ class Dumbbell : public openglframework::Mesh {
|
|||
|
||||
// Return a pointer to the rigid body of the sphere
|
||||
inline rp3d::RigidBody* Dumbbell::getRigidBody() {
|
||||
return mRigidBody;
|
||||
return dynamic_cast<rp3d::RigidBody*>(mBody);
|
||||
}
|
||||
|
||||
// Return a pointer to the body
|
||||
inline rp3d::CollisionBody* Dumbbell::getCollisionBody() {
|
||||
return mBody;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
59
examples/common/Line.cpp
Normal file
59
examples/common/Line.cpp
Normal file
|
|
@ -0,0 +1,59 @@
|
|||
/********************************************************************************
|
||||
* 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 "Line.h"
|
||||
|
||||
// Constructor
|
||||
Line::Line(const openglframework::Vector3& worldPoint1,
|
||||
const openglframework::Vector3& worldPoint2)
|
||||
: mWorldPoint1(worldPoint1), mWorldPoint2(worldPoint2) {
|
||||
|
||||
}
|
||||
|
||||
// Destructor
|
||||
Line::~Line() {
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Render the sphere at the correct position and with the correct orientation
|
||||
void Line::render(openglframework::Shader& shader,
|
||||
const openglframework::Matrix4& worldToCameraMatrix) {
|
||||
|
||||
// Bind the shader
|
||||
shader.bind();
|
||||
|
||||
// Set the model to camera matrix
|
||||
shader.setMatrix4x4Uniform("localToCameraMatrix", worldToCameraMatrix);
|
||||
|
||||
glBegin(GL_LINES);
|
||||
glVertex3f(mWorldPoint1.x, mWorldPoint1.y, mWorldPoint1.z);
|
||||
glVertex3f(mWorldPoint2.x, mWorldPoint2.y, mWorldPoint2.z);
|
||||
glEnd();
|
||||
|
||||
// Unbind the shader
|
||||
shader.unbind();
|
||||
}
|
||||
54
examples/common/Line.h
Normal file
54
examples/common/Line.h
Normal file
|
|
@ -0,0 +1,54 @@
|
|||
#ifndef LINE_H
|
||||
#define LINE_H
|
||||
|
||||
// Libraries
|
||||
#include "openglframework.h"
|
||||
#include "reactphysics3d.h"
|
||||
|
||||
// Class Line
|
||||
class Line : public openglframework::Object3D {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
openglframework::Vector3 mWorldPoint1, mWorldPoint2;
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
public :
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Line(const openglframework::Vector3& worldPoint1,
|
||||
const openglframework::Vector3& worldPoint2);
|
||||
|
||||
/// Destructor
|
||||
~Line();
|
||||
|
||||
/// Return the first point of the line
|
||||
openglframework::Vector3 getPoint1() const;
|
||||
|
||||
/// Return the second point of the line
|
||||
openglframework::Vector3 getPoint2() const;
|
||||
|
||||
/// Update the transform matrix of the sphere
|
||||
void updateTransform();
|
||||
|
||||
/// Render the line at the correct position and with the correct orientation
|
||||
void render(openglframework::Shader& shader,
|
||||
const openglframework::Matrix4& worldToCameraMatrix);
|
||||
};
|
||||
|
||||
// Return the first point of the line
|
||||
inline openglframework::Vector3 Line::getPoint1() const {
|
||||
return mWorldPoint1;
|
||||
}
|
||||
|
||||
// Return the second point of the line
|
||||
inline openglframework::Vector3 Line::getPoint2() const {
|
||||
return mWorldPoint2;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -26,10 +26,9 @@
|
|||
// Libraries
|
||||
#include "Sphere.h"
|
||||
|
||||
|
||||
// Constructor
|
||||
Sphere::Sphere(float radius, const openglframework::Vector3 &position,
|
||||
float mass, reactphysics3d::DynamicsWorld* dynamicsWorld,
|
||||
reactphysics3d::CollisionWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: openglframework::Mesh(), mRadius(radius) {
|
||||
|
||||
|
|
@ -59,10 +58,54 @@ Sphere::Sphere(float radius, const openglframework::Vector3 &position,
|
|||
rp3d::Transform transform(initPosition, initOrientation);
|
||||
|
||||
// Create a rigid body corresponding to the sphere in the dynamics world
|
||||
mRigidBody = dynamicsWorld->createRigidBody(transform);
|
||||
mRigidBody = world->createCollisionBody(transform);
|
||||
|
||||
// Add a collision shape to the body and specify the mass of the shape
|
||||
mRigidBody->addCollisionShape(collisionShape, mass);
|
||||
mRigidBody->addCollisionShape(collisionShape, rp3d::Transform::identity());
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
}
|
||||
|
||||
// Constructor
|
||||
Sphere::Sphere(float radius, const openglframework::Vector3 &position,
|
||||
float mass, reactphysics3d::DynamicsWorld* world,
|
||||
const std::string& meshFolderPath)
|
||||
: openglframework::Mesh(), mRadius(radius) {
|
||||
|
||||
// Load the mesh from a file
|
||||
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "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 destroyed right after calling RigidBody::addCollisionShape()
|
||||
const rp3d::SphereShape collisionShape(mRadius);
|
||||
|
||||
// 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
|
||||
rp3d::RigidBody* body = world->createRigidBody(transform);
|
||||
|
||||
// Add a collision shape to the body and specify the mass of the shape
|
||||
body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass);
|
||||
|
||||
mRigidBody = body;
|
||||
|
||||
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
||||
}
|
||||
|
||||
// Destructor
|
||||
|
|
|
|||
|
|
@ -41,7 +41,7 @@ class Sphere : public openglframework::Mesh {
|
|||
float mRadius;
|
||||
|
||||
/// Rigid body used to simulate the dynamics of the sphere
|
||||
rp3d::RigidBody* mRigidBody;
|
||||
rp3d::CollisionBody* mRigidBody;
|
||||
|
||||
/// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
|
||||
openglframework::Matrix4 mScalingMatrix;
|
||||
|
|
@ -52,6 +52,10 @@ class Sphere : public openglframework::Mesh {
|
|||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Sphere(float radius, const openglframework::Vector3& position,
|
||||
rp3d::CollisionWorld* world, const std::string& meshFolderPath);
|
||||
|
||||
/// Constructor
|
||||
Sphere(float radius, const openglframework::Vector3& position,
|
||||
float mass, rp3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath);
|
||||
|
|
@ -59,8 +63,11 @@ class Sphere : public openglframework::Mesh {
|
|||
/// Destructor
|
||||
~Sphere();
|
||||
|
||||
/// Return a pointer to the rigid body of the sphere
|
||||
rp3d::RigidBody* getRigidBody();
|
||||
/// Return a pointer to the collision body of the box
|
||||
reactphysics3d::CollisionBody* getCollisionBody();
|
||||
|
||||
/// Return a pointer to the rigid body of the box
|
||||
reactphysics3d::RigidBody* getRigidBody();
|
||||
|
||||
/// Update the transform matrix of the sphere
|
||||
void updateTransform();
|
||||
|
|
@ -70,9 +77,14 @@ class Sphere : public openglframework::Mesh {
|
|||
const openglframework::Matrix4& worldToCameraMatrix);
|
||||
};
|
||||
|
||||
// Return a pointer to the rigid body of the sphere
|
||||
inline rp3d::RigidBody* Sphere::getRigidBody() {
|
||||
// Return a pointer to the collision body of the box
|
||||
inline rp3d::CollisionBody* Sphere::getCollisionBody() {
|
||||
return mRigidBody;
|
||||
}
|
||||
|
||||
// Return a pointer to the rigid body of the box
|
||||
inline rp3d::RigidBody* Sphere::getRigidBody() {
|
||||
return dynamic_cast<rp3d::RigidBody*>(mRigidBody);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -59,6 +59,15 @@ struct Color {
|
|||
// Return the white color
|
||||
static Color white() { return Color(1.0f, 1.0f, 1.0f, 1.0f);}
|
||||
|
||||
// Return the red color
|
||||
static Color red() { return Color(1.0f, 0.0f, 0.0f, 1.0f);}
|
||||
|
||||
// Return the green color
|
||||
static Color green() { return Color(0.0f, 1.0f, 0.0f, 1.0f);}
|
||||
|
||||
// Return the blue color
|
||||
static Color blue() { return Color(0.0f, 0.0f, 1.0f, 1.0f);}
|
||||
|
||||
// = operator
|
||||
Color& operator=(const Color& color) {
|
||||
if (&color != this) {
|
||||
|
|
|
|||
43
examples/raycast/CMakeLists.txt
Normal file
43
examples/raycast/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,43 @@
|
|||
# Minimum cmake version required
|
||||
cmake_minimum_required(VERSION 2.6)
|
||||
|
||||
# Project configuration
|
||||
PROJECT(Raycast)
|
||||
|
||||
# Where to build the executables
|
||||
SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/collisionshapes")
|
||||
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${EXECUTABLE_OUTPUT_PATH})
|
||||
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${EXECUTABLE_OUTPUT_PATH})
|
||||
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${EXECUTABLE_OUTPUT_PATH})
|
||||
|
||||
# Copy the shaders used for the demo into the build directory
|
||||
FILE(COPY "${OPENGLFRAMEWORK_DIR}/src/shaders/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/shaders/")
|
||||
|
||||
# Copy the meshes used for the demo into the build directory
|
||||
FILE(COPY "../common/meshes/" DESTINATION "${EXECUTABLE_OUTPUT_PATH}/meshes/")
|
||||
|
||||
# Headers
|
||||
INCLUDE_DIRECTORIES("${OPENGLFRAMEWORK_DIR}/src/" "../common/glfw/include/" "../common/")
|
||||
|
||||
# Source files
|
||||
SET(RAYCAST_SOURCES
|
||||
Raycast.cpp
|
||||
Scene.cpp
|
||||
Scene.h
|
||||
"../common/VisualContactPoint.cpp"
|
||||
"../common/ConvexMesh.cpp"
|
||||
"../common/Capsule.cpp"
|
||||
"../common/Sphere.cpp"
|
||||
"../common/Line.cpp"
|
||||
"../common/Cylinder.cpp"
|
||||
"../common/Cone.cpp"
|
||||
"../common/Dumbbell.cpp"
|
||||
"../common/Box.cpp"
|
||||
"../common/Viewer.cpp"
|
||||
)
|
||||
|
||||
# Create the executable
|
||||
ADD_EXECUTABLE(raycast ${RAYCAST_SOURCES})
|
||||
|
||||
# Link with libraries
|
||||
TARGET_LINK_LIBRARIES(raycast reactphysics3d openglframework glfw ${GLFW_LIBRARIES})
|
||||
155
examples/raycast/Raycast.cpp
Normal file
155
examples/raycast/Raycast.cpp
Normal file
|
|
@ -0,0 +1,155 @@
|
|||
/********************************************************************************
|
||||
* 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 "Scene.h"
|
||||
#include "../common/Viewer.h"
|
||||
|
||||
// Declarations
|
||||
void simulate();
|
||||
void render();
|
||||
void update();
|
||||
void mouseButton(GLFWwindow* window, int button, int action, int mods);
|
||||
void mouseMotion(GLFWwindow* window, double x, double y);
|
||||
void keyboard(GLFWwindow* window, int key, int scancode, int action, int mods);
|
||||
void scroll(GLFWwindow* window, double xAxis, double yAxis);
|
||||
void init();
|
||||
|
||||
// Namespaces
|
||||
using namespace openglframework;
|
||||
|
||||
// Global variables
|
||||
Viewer* viewer;
|
||||
Scene* scene;
|
||||
|
||||
// Main function
|
||||
int main(int argc, char** argv) {
|
||||
|
||||
// Create and initialize the Viewer
|
||||
viewer = new Viewer();
|
||||
Vector2 windowsSize = Vector2(800, 600);
|
||||
Vector2 windowsPosition = Vector2(100, 100);
|
||||
viewer->init(argc, argv, "ReactPhysics3D Examples - Raycast",
|
||||
windowsSize, windowsPosition, true);
|
||||
|
||||
// If the shaders and meshes folders are not specified as an argument
|
||||
if (argc < 3) {
|
||||
std::cerr << "Error : You need to specify the shaders folder as the first argument"
|
||||
<< " and the meshes folder as the second argument" << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
// Get the path of the shaders folder
|
||||
std::string shaderFolderPath(argv[1]);
|
||||
std::string meshFolderPath(argv[2]);
|
||||
|
||||
// Register callback methods
|
||||
viewer->registerUpdateFunction(update);
|
||||
viewer->registerKeyboardCallback(keyboard);
|
||||
viewer->registerMouseButtonCallback(mouseButton);
|
||||
viewer->registerMouseCursorCallback(mouseMotion);
|
||||
viewer->registerScrollingCallback(scroll);
|
||||
|
||||
// Create the scene
|
||||
scene = new Scene(viewer, shaderFolderPath, meshFolderPath);
|
||||
|
||||
init();
|
||||
|
||||
viewer->startMainLoop();
|
||||
|
||||
delete viewer;
|
||||
delete scene;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Update function that is called each frame
|
||||
void update() {
|
||||
|
||||
// Take a simulation step
|
||||
simulate();
|
||||
|
||||
// Render
|
||||
render();
|
||||
}
|
||||
|
||||
// Simulate function
|
||||
void simulate() {
|
||||
|
||||
// Physics simulation
|
||||
scene->simulate();
|
||||
|
||||
viewer->computeFPS();
|
||||
}
|
||||
|
||||
// Initialization
|
||||
void init() {
|
||||
|
||||
// Define the background color (black)
|
||||
glClearColor(0.0, 0.0, 0.0, 1.0);
|
||||
}
|
||||
|
||||
// Callback method to receive keyboard events
|
||||
void keyboard(GLFWwindow* window, int key, int scancode, int action, int mods) {
|
||||
if (key == GLFW_KEY_ESCAPE && action == GLFW_PRESS) {
|
||||
glfwSetWindowShouldClose(window, GL_TRUE);
|
||||
}
|
||||
if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
|
||||
scene->changeBody();
|
||||
}
|
||||
if (key == GLFW_KEY_N && action == GLFW_PRESS) {
|
||||
scene->showHideNormals();
|
||||
}
|
||||
}
|
||||
|
||||
// Callback method to receive scrolling events
|
||||
void scroll(GLFWwindow* window, double xAxis, double yAxis) {
|
||||
viewer->scrollingEvent(static_cast<float>(yAxis));
|
||||
}
|
||||
|
||||
// Called when a mouse button event occurs
|
||||
void mouseButton(GLFWwindow* window, int button, int action, int mods) {
|
||||
viewer->mouseButtonEvent(button, action);
|
||||
}
|
||||
|
||||
// Called when a mouse motion event occurs
|
||||
void mouseMotion(GLFWwindow* window, double x, double y) {
|
||||
viewer->mouseMotionEvent(x, y);
|
||||
}
|
||||
|
||||
// Display the scene
|
||||
void render() {
|
||||
|
||||
// Render the scene
|
||||
scene->render();
|
||||
|
||||
// Display the FPS
|
||||
viewer->displayGUI();
|
||||
|
||||
// Check the OpenGL errors
|
||||
Viewer::checkOpenGLErrors();
|
||||
}
|
||||
|
||||
|
||||
309
examples/raycast/Scene.cpp
Normal file
309
examples/raycast/Scene.cpp
Normal file
|
|
@ -0,0 +1,309 @@
|
|||
/********************************************************************************
|
||||
* 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 "Scene.h"
|
||||
|
||||
// Namespaces
|
||||
using namespace openglframework;
|
||||
|
||||
// Constructor
|
||||
Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::string& meshFolderPath)
|
||||
: mViewer(viewer), mLight0(0), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false),
|
||||
mPhongShader(shaderFolderPath + "phong.vert",
|
||||
shaderFolderPath +"phong.frag") {
|
||||
|
||||
// Move the light 0
|
||||
mLight0.translateWorld(Vector3(50, 50, 50));
|
||||
|
||||
// Compute the radius and the center of the scene
|
||||
float radiusScene = 30.0f;
|
||||
openglframework::Vector3 center(0, 0, 0);
|
||||
|
||||
// Set the center of the scene
|
||||
mViewer->setScenePosition(center, radiusScene);
|
||||
|
||||
// Create the dynamics world for the physics simulation
|
||||
mCollisionWorld = new rp3d::CollisionWorld();
|
||||
|
||||
// Create the static data for the visual contact points
|
||||
VisualContactPoint::createStaticData(meshFolderPath);
|
||||
|
||||
// ---------- Dumbbell ---------- //
|
||||
openglframework::Vector3 position1(0, 0, 0);
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
mDumbbell = new Dumbbell(position1, mCollisionWorld, meshFolderPath);
|
||||
|
||||
// ---------- Box ---------- //
|
||||
openglframework::Vector3 position2(0, 0, 0);
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
mBox = new Box(BOX_SIZE, position2, mCollisionWorld);
|
||||
mBox->getCollisionBody()->setIsActive(false);
|
||||
|
||||
// ---------- Sphere ---------- //
|
||||
openglframework::Vector3 position3(0, 0, 0);
|
||||
|
||||
// Create a sphere and a corresponding rigid in the dynamics world
|
||||
mSphere = new Sphere(SPHERE_RADIUS, position3, mCollisionWorld,
|
||||
meshFolderPath);
|
||||
|
||||
// ---------- Cone ---------- //
|
||||
openglframework::Vector3 position4(0, 0, 0);
|
||||
|
||||
// Create a cone and a corresponding rigid in the dynamics world
|
||||
mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
|
||||
meshFolderPath);
|
||||
mCone->getCollisionBody()->setIsActive(false);
|
||||
|
||||
// ---------- Cylinder ---------- //
|
||||
openglframework::Vector3 position5(0, 0, 0);
|
||||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
|
||||
mCollisionWorld, meshFolderPath);
|
||||
mCylinder->getCollisionBody()->setIsActive(false);
|
||||
|
||||
// ---------- Capsule ---------- //
|
||||
openglframework::Vector3 position6(0, 0, 0);
|
||||
|
||||
// Create a cylinder and a corresponding rigid in the dynamics world
|
||||
mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position6 ,
|
||||
mCollisionWorld, meshFolderPath);
|
||||
|
||||
// ---------- Convex Mesh ---------- //
|
||||
openglframework::Vector3 position7(0, 0, 0);
|
||||
|
||||
// Create a convex mesh and a corresponding rigid in the dynamics world
|
||||
mConvexMesh = new ConvexMesh(position7, mCollisionWorld, meshFolderPath);
|
||||
|
||||
// Create the lines that will be used for raycasting
|
||||
createLines();
|
||||
|
||||
changeBody();
|
||||
}
|
||||
|
||||
// Create the raycast lines
|
||||
void Scene::createLines() {
|
||||
|
||||
int nbRaysOneDimension = sqrt(NB_RAYS);
|
||||
|
||||
for (int i=0; i<nbRaysOneDimension; i++) {
|
||||
for (int j=0; j<nbRaysOneDimension; j++) {
|
||||
|
||||
float theta = i * 2.0f * M_PI / float(nbRaysOneDimension);
|
||||
float phi = j * M_PI / float(nbRaysOneDimension);
|
||||
|
||||
// Generate a point on a sphere with spherical coordinates
|
||||
float x = RAY_LENGTH * std::sin(phi) * std::cos(theta);
|
||||
float y = RAY_LENGTH * std::sin(phi) * std::sin(theta);
|
||||
float z = RAY_LENGTH * std::cos(phi);
|
||||
|
||||
// Create a line from the point on the sphere to the center of
|
||||
// the scene
|
||||
openglframework::Vector3 point1(x, y, z);
|
||||
openglframework::Vector3 point2(0.0f, 0.0f, 0.0f);
|
||||
Line* line = new Line(point1, point2);
|
||||
mLines.push_back(line);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Change the body to raycast and to display
|
||||
void Scene::changeBody() {
|
||||
|
||||
mCurrentBodyIndex++;
|
||||
if (mCurrentBodyIndex >= NB_BODIES) mCurrentBodyIndex = 0;
|
||||
|
||||
mSphere->getCollisionBody()->setIsActive(false);
|
||||
mBox->getCollisionBody()->setIsActive(false);
|
||||
mCone->getCollisionBody()->setIsActive(false);
|
||||
mCylinder->getCollisionBody()->setIsActive(false);
|
||||
mCapsule->getCollisionBody()->setIsActive(false);
|
||||
mConvexMesh->getCollisionBody()->setIsActive(false);
|
||||
mDumbbell->getCollisionBody()->setIsActive(false);
|
||||
|
||||
switch(mCurrentBodyIndex) {
|
||||
case 0: mSphere->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 1: mBox->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 2: mCone->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 3: mCylinder->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 4: mCapsule->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 5: mConvexMesh->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
case 6: mDumbbell->getCollisionBody()->setIsActive(true);
|
||||
break;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// Destructor
|
||||
Scene::~Scene() {
|
||||
|
||||
// Destroy the shader
|
||||
mPhongShader.destroy();
|
||||
|
||||
// Destroy the box rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody());
|
||||
delete mBox;
|
||||
|
||||
// Destroy the sphere
|
||||
mCollisionWorld->destroyCollisionBody(mSphere->getCollisionBody());
|
||||
delete mSphere;
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
|
||||
delete mCone;
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
|
||||
|
||||
// Destroy the sphere
|
||||
delete mCylinder;
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
|
||||
|
||||
// Destroy the sphere
|
||||
delete mCapsule;
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
|
||||
|
||||
// Destroy the convex mesh
|
||||
delete mConvexMesh;
|
||||
|
||||
// Destroy the corresponding rigid body from the dynamics world
|
||||
mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
|
||||
|
||||
// Destroy the convex mesh
|
||||
delete mDumbbell;
|
||||
|
||||
mRaycastManager.resetPoints();
|
||||
|
||||
// Destroy the static data for the visual contact points
|
||||
VisualContactPoint::destroyStaticData();
|
||||
|
||||
// Destroy the collision world
|
||||
delete mCollisionWorld;
|
||||
|
||||
// Destroy the lines
|
||||
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
|
||||
++it) {
|
||||
delete (*it);
|
||||
}
|
||||
}
|
||||
|
||||
// Take a step for the simulation
|
||||
void Scene::simulate() {
|
||||
|
||||
mRaycastManager.resetPoints();
|
||||
|
||||
// For each line of the scene
|
||||
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
|
||||
++it) {
|
||||
|
||||
Line* line = *it;
|
||||
|
||||
// Create a ray corresponding to the line
|
||||
openglframework::Vector3 p1 = line->getPoint1();
|
||||
openglframework::Vector3 p2 = line->getPoint2();
|
||||
|
||||
rp3d::Vector3 point1(p1.x, p1.y, p1.z);
|
||||
rp3d::Vector3 point2(p2.x, p2.y, p2.z);
|
||||
rp3d::Ray ray(point1, point2);
|
||||
|
||||
// Perform a raycast query on the physics world by passing a raycast
|
||||
// callback class in argument.
|
||||
mCollisionWorld->raycast(ray, &mRaycastManager);
|
||||
}
|
||||
}
|
||||
|
||||
// Render the scene
|
||||
void Scene::render() {
|
||||
|
||||
glEnable(GL_DEPTH_TEST);
|
||||
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();
|
||||
|
||||
openglframework::Vector4 grey(0.7, 0.7, 0.7, 1);
|
||||
mPhongShader.setVector4Uniform("vertexColor", grey);
|
||||
|
||||
// Set the variables of the shader
|
||||
mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
|
||||
mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
|
||||
mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
|
||||
const Color& diffColLight0 = mLight0.getDiffuseColor();
|
||||
const Color& specColLight0 = mLight0.getSpecularColor();
|
||||
mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b));
|
||||
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b));
|
||||
mPhongShader.setFloatUniform("shininess", 200.0f);
|
||||
|
||||
if (mBox->getCollisionBody()->isActive()) mBox->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mSphere->getCollisionBody()->isActive()) mSphere->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mCone->getCollisionBody()->isActive()) mCone->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(mPhongShader, worldToCameraMatrix);
|
||||
if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(mPhongShader, worldToCameraMatrix);
|
||||
|
||||
mPhongShader.unbind();
|
||||
mPhongShader.bind();
|
||||
|
||||
mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(0, 0, 0));
|
||||
openglframework::Vector4 redColor(1, 0, 0, 1);
|
||||
mPhongShader.setVector4Uniform("vertexColor", redColor);
|
||||
|
||||
// Render all the raycast hit points
|
||||
mRaycastManager.render(mPhongShader, worldToCameraMatrix, mAreNormalsDisplayed);
|
||||
|
||||
mPhongShader.unbind();
|
||||
mPhongShader.bind();
|
||||
|
||||
openglframework::Vector4 blueColor(0, 0.62, 0.92, 1);
|
||||
mPhongShader.setVector4Uniform("vertexColor", blueColor);
|
||||
|
||||
// Render the lines
|
||||
for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
|
||||
++it) {
|
||||
(*it)->render(mPhongShader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
// Unbind the shader
|
||||
mPhongShader.unbind();
|
||||
}
|
||||
198
examples/raycast/Scene.h
Normal file
198
examples/raycast/Scene.h
Normal file
|
|
@ -0,0 +1,198 @@
|
|||
/********************************************************************************
|
||||
* 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 SCENE_H
|
||||
#define SCENE_H
|
||||
|
||||
// Libraries
|
||||
#include "openglframework.h"
|
||||
#include "reactphysics3d.h"
|
||||
#include "Sphere.h"
|
||||
#include "Box.h"
|
||||
#include "Cone.h"
|
||||
#include "Cylinder.h"
|
||||
#include "Capsule.h"
|
||||
#include "Line.h"
|
||||
#include "ConvexMesh.h"
|
||||
#include "Dumbbell.h"
|
||||
#include "VisualContactPoint.h"
|
||||
#include "../common/Viewer.h"
|
||||
|
||||
// Constants
|
||||
const openglframework::Vector3 BOX_SIZE(4, 2, 1);
|
||||
const float SPHERE_RADIUS = 3.0f;
|
||||
const float CONE_RADIUS = 3.0f;
|
||||
const float CONE_HEIGHT = 5.0f;
|
||||
const float CYLINDER_RADIUS = 3.0f;
|
||||
const float CYLINDER_HEIGHT = 5.0f;
|
||||
const float CAPSULE_RADIUS = 3.0f;
|
||||
const float CAPSULE_HEIGHT = 5.0f;
|
||||
const float DUMBBELL_HEIGHT = 5.0f;
|
||||
const int NB_RAYS = 100;
|
||||
const float RAY_LENGTH = 30.0f;
|
||||
const int NB_BODIES = 7;
|
||||
|
||||
// Raycast manager
|
||||
class RaycastManager : public rp3d::RaycastCallback {
|
||||
|
||||
private:
|
||||
|
||||
/// All the visual contact points
|
||||
std::vector<VisualContactPoint*> mHitPoints;
|
||||
|
||||
/// All the normals at hit points
|
||||
std::vector<Line*> mNormals;
|
||||
|
||||
public:
|
||||
|
||||
virtual rp3d::decimal notifyRaycastHit(const rp3d::RaycastInfo& raycastInfo) {
|
||||
rp3d::Vector3 hitPos = raycastInfo.worldPoint;
|
||||
openglframework::Vector3 position(hitPos.x, hitPos.y, hitPos.z);
|
||||
VisualContactPoint* point = new VisualContactPoint(position);
|
||||
mHitPoints.push_back(point);
|
||||
|
||||
// Create a line to display the normal at hit point
|
||||
rp3d::Vector3 n = raycastInfo.worldNormal;
|
||||
openglframework::Vector3 normal(n.x, n.y, n.z);
|
||||
Line* normalLine = new Line(position, position + normal);
|
||||
mNormals.push_back(normalLine);
|
||||
|
||||
return raycastInfo.hitFraction;
|
||||
}
|
||||
|
||||
void render(openglframework::Shader& shader,
|
||||
const openglframework::Matrix4& worldToCameraMatrix,
|
||||
bool showNormals) {
|
||||
|
||||
// Render all the raycast hit points
|
||||
for (std::vector<VisualContactPoint*>::iterator it = mHitPoints.begin();
|
||||
it != mHitPoints.end(); ++it) {
|
||||
(*it)->render(shader, worldToCameraMatrix);
|
||||
}
|
||||
|
||||
if (showNormals) {
|
||||
|
||||
// Render all the normals at hit points
|
||||
for (std::vector<Line*>::iterator it = mNormals.begin();
|
||||
it != mNormals.end(); ++it) {
|
||||
(*it)->render(shader, worldToCameraMatrix);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void resetPoints() {
|
||||
|
||||
// Destroy all the visual contact points
|
||||
for (std::vector<VisualContactPoint*>::iterator it = mHitPoints.begin();
|
||||
it != mHitPoints.end(); ++it) {
|
||||
delete (*it);
|
||||
}
|
||||
mHitPoints.clear();
|
||||
|
||||
// Destroy all the normals
|
||||
for (std::vector<Line*>::iterator it = mNormals.begin();
|
||||
it != mNormals.end(); ++it) {
|
||||
delete (*it);
|
||||
}
|
||||
mNormals.clear();
|
||||
}
|
||||
};
|
||||
|
||||
// Class Scene
|
||||
class Scene {
|
||||
|
||||
private :
|
||||
|
||||
// -------------------- Attributes -------------------- //
|
||||
|
||||
/// Pointer to the viewer
|
||||
Viewer* mViewer;
|
||||
|
||||
/// Raycast manager
|
||||
RaycastManager mRaycastManager;
|
||||
|
||||
/// Light 0
|
||||
openglframework::Light mLight0;
|
||||
|
||||
/// Phong shader
|
||||
openglframework::Shader mPhongShader;
|
||||
|
||||
/// All the raycast lines
|
||||
std::vector<Line*> mLines;
|
||||
|
||||
/// Current body index
|
||||
int mCurrentBodyIndex;
|
||||
|
||||
/// True if the hit points normals are displayed
|
||||
bool mAreNormalsDisplayed;
|
||||
|
||||
/// Raycast manager
|
||||
|
||||
/// All objects on the scene
|
||||
Box* mBox;
|
||||
Sphere* mSphere;
|
||||
Cone* mCone;
|
||||
Cylinder* mCylinder;
|
||||
Capsule* mCapsule;
|
||||
ConvexMesh* mConvexMesh;
|
||||
Dumbbell* mDumbbell;
|
||||
|
||||
/// Collision world used for the physics simulation
|
||||
rp3d::CollisionWorld* mCollisionWorld;
|
||||
|
||||
/// Create the raycast lines
|
||||
void createLines();
|
||||
|
||||
public:
|
||||
|
||||
// -------------------- Methods -------------------- //
|
||||
|
||||
/// Constructor
|
||||
Scene(Viewer* viewer, const std::string& shaderFolderPath,
|
||||
const std::string& meshFolderPath);
|
||||
|
||||
/// Destructor
|
||||
~Scene();
|
||||
|
||||
/// Take a step for the simulation
|
||||
void simulate();
|
||||
|
||||
/// Render the scene
|
||||
void render();
|
||||
|
||||
/// Change the body to raycast
|
||||
void changeBody();
|
||||
|
||||
/// Display or not the surface normals at hit points
|
||||
void showHideNormals();
|
||||
};
|
||||
|
||||
// Display or not the surface normals at hit points
|
||||
inline void Scene::showHideNormals() {
|
||||
mAreNormalsDisplayed = !mAreNormalsDisplayed;
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
Loading…
Reference in New Issue
Block a user