Merge branch 'develop'

CMakeLists.txt

@@ -4,36 +4,148 @@ CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 # Project configuration
 PROJECT(REACTPHYSICS3D)
 
+# Default build type
+SET(CMAKE_BUILD_TYPE "Debug")
+
 # Where to build the library
-SET(LIBRARY_OUTPUT_PATH lib/)
+SET(LIBRARY_OUTPUT_PATH "lib")
+
+# Where to build the executables
+SET(OUR_EXECUTABLE_OUTPUT_PATH "${PROJECT_BINARY_DIR}/bin")
 
 # Options
 OPTION(COMPILE_EXAMPLES "Select this if you want to build the examples" OFF)
 OPTION(COMPILE_TESTS "Select this if you want to build the tests" OFF)
-
+OPTION(PROFILING_ENABLED "Select this if you want to compile with enabled profiling" OFF)
+OPTION(DOUBLE_PRECISION_ENABLED "Select this if you want to compile using double precision floating
+                                 values" OFF)
 # Headers
 INCLUDE_DIRECTORIES(src)
 
-# Library configuration
-file (
-  GLOB_RECURSE
-  source_files
-  src/*
+IF(PROFILING_ENABLED)
+    ADD_DEFINITIONS(-DIS_PROFILING_ACTIVE)
+ENDIF(PROFILING_ENABLED)
+
+IF(DOUBLE_PRECISION_ENABLED)
+    ADD_DEFINITIONS(-DIS_DOUBLE_PRECISION_ENABLED)
+ENDIF(DOUBLE_PRECISION_ENABLED)
+
+# Source files
+SET (REACTPHYSICS3D_SOURCES
+    "src/configuration.h"
+    "src/decimal.h"
+    "src/reactphysics3d.h"
+    "src/body/Body.h"
+    "src/body/Body.cpp"
+    "src/body/CollisionBody.h"
+    "src/body/CollisionBody.cpp"
+    "src/body/RigidBody.h"
+    "src/body/RigidBody.cpp"
+    "src/collision/broadphase/BroadPhaseAlgorithm.h"
+    "src/collision/broadphase/BroadPhaseAlgorithm.cpp"
+    "src/collision/broadphase/NoBroadPhaseAlgorithm.h"
+    "src/collision/broadphase/NoBroadPhaseAlgorithm.cpp"
+    "src/collision/broadphase/PairManager.h"
+    "src/collision/broadphase/PairManager.cpp"
+    "src/collision/broadphase/SweepAndPruneAlgorithm.h"
+    "src/collision/broadphase/SweepAndPruneAlgorithm.cpp"
+    "src/collision/narrowphase/EPA/EdgeEPA.h"
+    "src/collision/narrowphase/EPA/EdgeEPA.cpp"
+    "src/collision/narrowphase/EPA/EPAAlgorithm.h"
+    "src/collision/narrowphase/EPA/EPAAlgorithm.cpp"
+    "src/collision/narrowphase/EPA/TriangleEPA.h"
+    "src/collision/narrowphase/EPA/TriangleEPA.cpp"
+    "src/collision/narrowphase/EPA/TrianglesStore.h"
+    "src/collision/narrowphase/EPA/TrianglesStore.cpp"
+    "src/collision/narrowphase/GJK/Simplex.h"
+    "src/collision/narrowphase/GJK/Simplex.cpp"
+    "src/collision/narrowphase/GJK/GJKAlgorithm.h"
+    "src/collision/narrowphase/GJK/GJKAlgorithm.cpp"
+    "src/collision/narrowphase/NarrowPhaseAlgorithm.h"
+    "src/collision/narrowphase/NarrowPhaseAlgorithm.cpp"
+    "src/collision/narrowphase/SphereVsSphereAlgorithm.h"
+    "src/collision/narrowphase/SphereVsSphereAlgorithm.cpp"
+    "src/collision/shapes/AABB.h"
+    "src/collision/shapes/AABB.cpp"
+    "src/collision/shapes/BoxShape.h"
+    "src/collision/shapes/BoxShape.cpp"
+    "src/collision/shapes/CapsuleShape.h"
+    "src/collision/shapes/CapsuleShape.cpp"
+    "src/collision/shapes/CollisionShape.h"
+    "src/collision/shapes/CollisionShape.cpp"
+    "src/collision/shapes/ConeShape.h"
+    "src/collision/shapes/ConeShape.cpp"
+    "src/collision/shapes/ConvexMeshShape.h"
+    "src/collision/shapes/ConvexMeshShape.cpp"
+    "src/collision/shapes/CylinderShape.h"
+    "src/collision/shapes/CylinderShape.cpp"
+    "src/collision/shapes/SphereShape.h"
+    "src/collision/shapes/SphereShape.cpp"
+    "src/collision/BroadPhasePair.h"
+    "src/collision/BroadPhasePair.cpp"
+    "src/collision/CollisionDetection.h"
+    "src/collision/CollisionDetection.cpp"
+    "src/constraint/BallAndSocketJoint.h"
+    "src/constraint/BallAndSocketJoint.cpp"
+    "src/constraint/ContactPoint.h"
+    "src/constraint/ContactPoint.cpp"
+    "src/constraint/FixedJoint.h"
+    "src/constraint/FixedJoint.cpp"
+    "src/constraint/HingeJoint.h"
+    "src/constraint/HingeJoint.cpp"
+    "src/constraint/Joint.h"
+    "src/constraint/Joint.cpp"
+    "src/constraint/SliderJoint.h"
+    "src/constraint/SliderJoint.cpp"
+    "src/engine/CollisionWorld.h"
+    "src/engine/CollisionWorld.cpp"
+    "src/engine/ConstraintSolver.h"
+    "src/engine/ConstraintSolver.cpp"
+    "src/engine/ContactManifold.h"
+    "src/engine/ContactManifold.cpp"
+    "src/engine/ContactSolver.h"
+    "src/engine/ContactSolver.cpp"
+    "src/engine/DynamicsWorld.h"
+    "src/engine/DynamicsWorld.cpp"
+    "src/engine/EventListener.h"
+    "src/engine/Impulse.h"
+    "src/engine/Island.h"
+    "src/engine/Island.cpp"
+    "src/engine/Material.h"
+    "src/engine/Material.cpp"
+    "src/engine/OverlappingPair.h"
+    "src/engine/OverlappingPair.cpp"
+    "src/engine/Profiler.h"
+    "src/engine/Profiler.cpp"
+    "src/engine/Timer.h"
+    "src/engine/Timer.cpp"
+    "src/mathematics/mathematics.h"
+    "src/mathematics/mathematics_functions.h"
+    "src/mathematics/Matrix2x2.h"
+    "src/mathematics/Matrix2x2.cpp"
+    "src/mathematics/Matrix3x3.h"
+    "src/mathematics/Matrix3x3.cpp"
+    "src/mathematics/Quaternion.h"
+    "src/mathematics/Quaternion.cpp"
+    "src/mathematics/Transform.h"
+    "src/mathematics/Transform.cpp"
+    "src/mathematics/Vector2.h"
+    "src/mathematics/Vector2.cpp"
+    "src/mathematics/Vector3.h"
+    "src/mathematics/Vector3.cpp"
+    "src/memory/MemoryAllocator.h"
+    "src/memory/MemoryAllocator.cpp"
 )
 
-# Require the reactphysics3d code to be compiled in a static library
-ADD_LIBRARY (
-   reactphysics3d
-   STATIC
-   ${source_files}
-)
+# Create the library
+ADD_LIBRARY (reactphysics3d STATIC ${REACTPHYSICS3D_SOURCES})
 
 # If we need to compile the examples
-IF (COMPILE_EXAMPLES)
-   add_subdirectory(examples/fallingcubes)
-ENDIF (COMPILE_EXAMPLES)
+IF(COMPILE_EXAMPLES)
+   add_subdirectory(examples/)
+ENDIF(COMPILE_EXAMPLES)
 
 # If we need to compile the tests
-IF (COMPILE_TESTS)
+IF(COMPILE_TESTS)
    add_subdirectory(test/)
-ENDIF (COMPILE_TESTS)
+ENDIF(COMPILE_TESTS)

VERSION

@@ -1 +1 @@
-0.3.0
+0.4.0

cmake/FindFreeglut.cmake

@@ -0,0 +1,32 @@
+# This module is used to try to find the Freeglut library and include files
+
+IF(WIN32)
+	FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h)
+	FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static)
+                 PATHS ${OPENGL_LIBRARY_DIR})
+ELSE(WIN32)
+	
+	IF(APPLE)
+		# Do nothing, we do not want to use freeglut on Mac OS X
+	ELSE(APPLE)
+		FIND_PATH(FREEGLUT_INCLUDE_DIR GL/freeglut.h /usr/include/GL
+                  /usr/openwin/share/include
+				  /usr/openwin/include
+                  /opt/graphics/OpenGL/include
+                  /opt/graphics/OpenGL/contrib/libglut)
+
+		FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static PATHS /usr/openwin/lib)
+		FIND_LIBRARY(Xi_LIBRARY Xi /usr/openwin/lib)
+		FIND_LIBRARY(Xmu_LIBRARY Xmu /usr/openwin/lib)
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEGLUT REQUIRED_VARS FREEGLUT_LIBRARY FREEGLUT_INCLUDE_DIR)
+
+IF(FREEGLUT_FOUND)
+	SET(FREEGLUT_LIBRARIES ${FREEGLUT_LIBRARY} ${Xi_LIBRARY} ${Xmu_LIBRARY})
+	SET(FREEGLUT_LIBRARY ${FREEGLUT_LIBRARIES})
+ENDIF(FREEGLUT_FOUND)
+
+MARK_AS_ADVANCED(FREEGLUT_INCLUDE_DIR FREEGLUT_LIBRARY Xi_LIBRARY Xmu_LIBRARY)

cmake/FindGLEW.cmake

@@ -0,0 +1,65 @@
+#
+# Try to find GLEW library and include path.
+# Once done this will define
+#
+# GLEW_FOUND
+# GLEW_INCLUDE_PATH
+# GLEW_LIBRARY
+#
+
+IF (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+$ENV{PROGRAMFILES}/GLEW/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+IF (NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew64 glew64s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library (64-bit)"
+)
+ELSE(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew GLEW glew32 glew32s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library"
+)
+ENDIF(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+ELSE (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+/usr/include
+/usr/local/include
+/sw/include
+/opt/local/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES GLEW glew
+PATHS
+/usr/lib64
+/usr/lib
+/usr/local/lib64
+/usr/local/lib
+/sw/lib
+/opt/local/lib
+${GLEW_ROOT_DIR}/lib
+DOC "The GLEW library")
+ENDIF (WIN32)
+
+SET(GLEW_FOUND "NO")
+IF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+SET(GLEW_LIBRARIES ${GLEW_LIBRARY})
+SET(GLEW_FOUND "YES")
+ENDIF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GLEW DEFAULT_MSG GLEW_LIBRARY GLEW_INCLUDE_PATH)

documentation/API/Doxyfile

@@ -32,7 +32,7 @@ PROJECT_NAME           = "ReactPhysics3D"
 # This could be handy for archiving the generated documentation or
 # if some version control system is used.
 
-PROJECT_NUMBER         = "0.3.0"
+PROJECT_NUMBER         = "0.4.0"
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer

documentation/UserManual/title.tex

@@ -10,7 +10,7 @@
     \vskip 1.3cm
     {\Huge \@title\par}%
     \vskip 0.3cm
-    {\Large Version: 0.3.0\par}%
+    {\Large Version: 0.4.0\par}%
     \vskip 0.3cm
     {\Large \@author\par}%
     \vskip 2cm

examples/CMakeLists.txt

@@ -0,0 +1,15 @@
+# Minimum cmake version required
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+# Set a variable for the directory of the opengl-framework
+SET(OPENGLFRAMEWORK_DIR "${CMAKE_CURRENT_SOURCE_DIR}/common/opengl-framework")
+
+# If we will use FREEGLUT
+IF(NOT APPLE)
+    ADD_DEFINITIONS(-DUSE_FREEGLUT)
+ENDIF()
+
+ADD_SUBDIRECTORY(common/)
+ADD_SUBDIRECTORY(cubes/)
+ADD_SUBDIRECTORY(joints/)
+ADD_SUBDIRECTORY(collisionshapes/)

examples/collisionshapes/CMakeLists.txt

@@ -0,0 +1,41 @@
+# Minimum cmake version required
+cmake_minimum_required(VERSION 2.6)
+
+# Project configuration
+PROJECT(CollisionShapes)
+
+# 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/")
+
+# Source files
+SET(COLLISION_SHAPES_SOURCES
+    CollisionShapes.cpp
+    Scene.cpp
+    Scene.h
+    "../common/VisualContactPoint.cpp"
+    "../common/ConvexMesh.cpp"
+    "../common/Capsule.cpp"
+    "../common/Sphere.cpp"
+    "../common/Cylinder.cpp"
+    "../common/Cone.cpp"
+    "../common/Box.cpp"
+    "../common/Viewer.cpp"
+)
+
+# Create the executable
+ADD_EXECUTABLE(collisionshapes ${COLLISION_SHAPES_SOURCES})
+
+# Link with libraries
+TARGET_LINK_LIBRARIES(collisionshapes reactphysics3d openglframework)

examples/collisionshapes/CollisionShapes.cpp

@@ -0,0 +1,158 @@
+/********************************************************************************
+* 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 "Viewer.h"
+
+// Declarations
+void simulate();
+void display();
+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 keyboard(unsigned char key, int x, int y);
+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);
+    bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Collision Shapes",
+                               windowsSize, windowsPosition);
+    if (!initOK) return 1;
+
+    // Create the scene
+    scene = new Scene(viewer);
+
+    init();
+
+    // Glut Idle function that is continuously called
+    glutIdleFunc(simulate);
+    glutDisplayFunc(display);
+    glutReshapeFunc(reshape);
+    glutMouseFunc(mouseButton);
+    glutMotionFunc(mouseMotion);
+    glutKeyboardFunc(keyboard);
+#ifdef USE_FREEGLUT
+    glutCloseFunc(finish);
+#else
+    atexit(finish);
+#endif
+
+    // Glut main looop
+    glutMainLoop();
+
+    return 0;
+}
+
+// Simulate function
+void simulate() {
+
+    // Physics simulation
+    scene->simulate();
+
+    viewer->computeFPS();
+
+    // Ask GLUT to render the scene
+    glutPostRedisplay ();
+}
+
+// Initialization
+void init() {
+
+    // Define the background color (black)
+    glClearColor(0.0, 0.0, 0.0, 1.0);
+}
+
+// Reshape function
+void reshape(int newWidth, int newHeight) {
+    viewer->reshape(newWidth, newHeight);
+}
+
+// Called when a mouse button event occurs
+void mouseButton(int button, int state, int x, int y) {
+    viewer->mouseButtonEvent(button, state, x, y);
+}
+
+// Called when a mouse motion event occurs
+void mouseMotion(int x, int y) {
+    viewer->mouseMotionEvent(x, y);
+}
+
+// Called when the user hits a special key on the keyboard
+void keyboard(unsigned char key, int x, int y) {
+    switch(key) {
+
+        // Escape key
+        case 27:
+            #ifdef USE_FREEGLUT
+                glutLeaveMainLoop();
+            #endif
+            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
+void display() {
+
+    // Render the scene
+    scene->render();
+
+    // Display the FPS
+    viewer->displayGUI();
+
+    // Swap the buffers
+    glutSwapBuffers();
+
+    // Check the OpenGL errors
+    GlutViewer::checkOpenGLErrors();
+}
+
+

examples/collisionshapes/Scene.cpp

@@ -0,0 +1,451 @@
+/********************************************************************************
+* 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(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
+                               mPhongShader("shaders/phong.vert",
+                                            "shaders/phong.frag"), mIsRunning(false) {
+
+    // Move the light 0
+    mLight0.translateWorld(Vector3(50, 50, 50));
+
+    // Compute the radius and the center of the scene
+    float radiusScene = 10.0f;
+    openglframework::Vector3 center(0, 5, 0);
+
+    // Set the center of the scene
+    mViewer->setScenePosition(center, radiusScene);
+
+    // Gravity vector in the dynamics world
+    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+
+    // Time step for the physics simulation
+    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->setNbIterationsVelocitySolver(15);
+
+    // Create the static data for the visual contact points
+    VisualContactPoint::createStaticData();
+
+    float radius = 3.0f;
+
+    // Create all the boxes of the scene
+    for (int i=0; i<NB_BOXES; i++) {
+
+        // Position
+        float angle = i * 30.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          60 + i * (BOX_SIZE.y + 0.8f),
+                                          radius * sin(angle));
+
+        // Create a sphere and a corresponding rigid in the dynamics world
+        Box* box = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
+
+        // The sphere is a moving rigid body
+        box->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = box->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the sphere the list of sphere in the scene
+        mBoxes.push_back(box);
+    }
+
+    // Create all the spheres of the scene
+    for (int i=0; i<NB_SPHERES; i++) {
+
+        // Position
+        float angle = i * 35.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          50 + i * (SPHERE_RADIUS + 0.8f),
+                                          radius * sin(angle));
+
+        // Create a sphere and a corresponding rigid in the dynamics world
+        Sphere* sphere = new Sphere(SPHERE_RADIUS, position , BOX_MASS, mDynamicsWorld);
+
+        // The sphere is a moving rigid body
+        sphere->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = sphere->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the sphere the list of sphere in the scene
+        mSpheres.push_back(sphere);
+    }
+
+    // Create all the cones of the scene
+    for (int i=0; i<NB_CONES; i++) {
+
+        // Position
+        float angle = i * 50.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          35 + i * (CONE_HEIGHT + 0.3f),
+                                          radius * sin(angle));
+
+        // Create a cone and a corresponding rigid in the dynamics world
+        Cone* cone = new Cone(CONE_RADIUS, CONE_HEIGHT, position , CONE_MASS, mDynamicsWorld);
+
+        // The cone is a moving rigid body
+        cone->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = cone->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the cone the list of sphere in the scene
+        mCones.push_back(cone);
+    }
+
+    // Create all the cylinders of the scene
+    for (int i=0; i<NB_CYLINDERS; i++) {
+
+        // Position
+        float angle = i * 35.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          25 + i * (CYLINDER_HEIGHT + 0.3f),
+                                          radius * sin(angle));
+
+        // Create a cylinder and a corresponding rigid in the dynamics world
+        Cylinder* cylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position ,
+                                          CYLINDER_MASS, mDynamicsWorld);
+
+        // The cylinder is a moving rigid body
+        cylinder->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = cylinder->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the cylinder the list of sphere in the scene
+        mCylinders.push_back(cylinder);
+    }
+
+    // Create all the capsules of the scene
+    for (int i=0; i<NB_CAPSULES; i++) {
+
+        // Position
+        float angle = i * 45.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          15 + i * (CAPSULE_HEIGHT + 0.3f),
+                                          radius * sin(angle));
+
+        // Create a cylinder and a corresponding rigid in the dynamics world
+        Capsule* capsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position ,
+                                       CAPSULE_MASS, mDynamicsWorld);
+
+        // The cylinder is a moving rigid body
+        capsule->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = capsule->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the cylinder the list of sphere in the scene
+        mCapsules.push_back(capsule);
+    }
+
+    // Create all the convex meshes of the scene
+    for (int i=0; i<NB_MESHES; i++) {
+
+        // Position
+        float angle = i * 30.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          5 + i * (CAPSULE_HEIGHT + 0.3f),
+                                          radius * sin(angle));
+
+        // Create a convex mesh and a corresponding rigid in the dynamics world
+        ConvexMesh* mesh = new ConvexMesh(position, MESH_MASS, mDynamicsWorld);
+
+        // The mesh is a moving rigid body
+        mesh->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = mesh->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.2));
+
+        // Add the mesh the list of sphere in the scene
+        mConvexMeshes.push_back(mesh);
+    }
+
+    // Create the floor
+    openglframework::Vector3 floorPosition(0, 0, 0);
+    mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
+
+    // The floor must be a non-moving rigid body
+    mFloor->getRigidBody()->enableMotion(false);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    material.setBounciness(rp3d::decimal(0.2));
+
+    // Start the simulation
+    startSimulation();
+}
+
+// Destructor
+Scene::~Scene() {
+
+    // Stop the physics simulation
+    stopSimulation();
+
+    // Destroy the shader
+    mPhongShader.destroy();
+
+    // Destroy all the boxes of the scene
+    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the box
+        delete (*it);
+    }
+
+    // Destroy all the sphere of the scene
+    for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the sphere
+        delete (*it);
+    }
+
+    // Destroy all the cones of the scene
+    for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the sphere
+        delete (*it);
+    }
+
+    // Destroy all the cylinders of the scene
+    for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the sphere
+        delete (*it);
+    }
+
+    // Destroy all the capsules of the scene
+    for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the sphere
+        delete (*it);
+    }
+
+    // Destroy all the convex meshes of the scene
+    for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
+         it != mConvexMeshes.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the convex mesh
+        delete (*it);
+    }
+
+    // Destroy all the visual contact points
+    for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
+         it != mContactPoints.end(); ++it) {
+        delete (*it);
+    }
+
+    // Destroy the static data for the visual contact points
+    VisualContactPoint::destroyStaticData();
+
+    // Destroy the rigid body of the floor
+    mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
+
+    // Destroy the floor
+    delete mFloor;
+
+    // Destroy the dynamics world
+    delete mDynamicsWorld;
+}
+
+// Take a step for the simulation
+void Scene::simulate() {
+
+    // If the physics simulation is running
+    if (mIsRunning) {
+
+        // 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();
+        }
+
+        // Update the position and orientation of the sphere
+        for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
+
+            // Update the transform used for the rendering
+            (*it)->updateTransform();
+        }
+
+        // Update the position and orientation of the cones
+        for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
+
+            // Update the transform used for the rendering
+            (*it)->updateTransform();
+        }
+
+        // Update the position and orientation of the cylinders
+        for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
+
+            // Update the transform used for the rendering
+            (*it)->updateTransform();
+        }
+
+        // Update the position and orientation of the capsules
+        for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
+
+            // Update the transform used for the rendering
+            (*it)->updateTransform();
+        }
+
+        // Update the position and orientation of the convex meshes
+        for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
+             it != mConvexMeshes.end(); ++it) {
+
+            // Update the transform used for the rendering
+            (*it)->updateTransform();
+        }
+
+        // Destroy all the visual contact points
+        for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
+             it != mContactPoints.end(); ++it) {
+            delete (*it);
+        }
+        mContactPoints.clear();
+
+        // Generate the new visual contact points
+        const std::vector<rp3d::ContactManifold*>& manifolds = mDynamicsWorld->getContactManifolds();
+        for (std::vector<rp3d::ContactManifold*>::const_iterator it = manifolds.begin();
+             it != manifolds.end(); ++it) {
+            for (unsigned int i=0; i<(*it)->getNbContactPoints(); i++) {
+                rp3d::ContactPoint* point = (*it)->getContactPoint(i);
+
+                const rp3d::Vector3 pos = point->getWorldPointOnBody1();
+                openglframework::Vector3 position(pos.x, pos.y, pos.z);
+                VisualContactPoint* visualPoint = new VisualContactPoint(position);
+                mContactPoints.push_back(visualPoint);
+            }
+        }
+
+        mFloor->updateTransform();
+    }
+}
+
+// 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();
+
+    // 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);
+
+    // Render all the boxes of the scene
+    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the sphere of the scene
+    for (std::vector<Sphere*>::iterator it = mSpheres.begin(); it != mSpheres.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the cones of the scene
+    for (std::vector<Cone*>::iterator it = mCones.begin(); it != mCones.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the cylinders of the scene
+    for (std::vector<Cylinder*>::iterator it = mCylinders.begin(); it != mCylinders.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the capsules of the scene
+    for (std::vector<Capsule*>::iterator it = mCapsules.begin(); it != mCapsules.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the convex meshes of the scene
+    for (std::vector<ConvexMesh*>::iterator it = mConvexMeshes.begin();
+         it != mConvexMeshes.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render all the visual contact points
+    for (std::vector<VisualContactPoint*>::iterator it = mContactPoints.begin();
+         it != mContactPoints.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render the floor
+    mFloor->render(mPhongShader, worldToCameraMatrix);
+
+    // Unbind the shader
+    mPhongShader.unbind();
+}

examples/collisionshapes/Scene.h

@@ -0,0 +1,153 @@
+/********************************************************************************
+* 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 "ConvexMesh.h"
+#include "VisualContactPoint.h"
+
+// Constants
+const int NB_BOXES = 3;
+const int NB_SPHERES = 3;
+const int NB_CONES = 3;
+const int NB_CYLINDERS = 3;
+const int NB_CAPSULES = 3;
+const int NB_MESHES = 3;
+const openglframework::Vector3 BOX_SIZE(2, 2, 2);
+const float SPHERE_RADIUS = 1.5f;
+const float CONE_RADIUS = 2.0f;
+const float CONE_HEIGHT = 3.0f;
+const float CYLINDER_RADIUS = 1.0f;
+const float CYLINDER_HEIGHT = 5.0f;
+const float CAPSULE_RADIUS = 1.0f;
+const float CAPSULE_HEIGHT = 1.0f;
+const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);        // Floor dimensions in meters
+const float BOX_MASS = 1.0f;
+const float CONE_MASS = 1.0f;
+const float CYLINDER_MASS = 1.0f;
+const float CAPSULE_MASS = 1.0f;
+const float MESH_MASS = 1.0f;
+const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
+
+// Class Scene
+class Scene {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Pointer to the viewer
+        openglframework::GlutViewer* mViewer;
+
+        /// Light 0
+        openglframework::Light mLight0;
+
+        /// Phong shader
+        openglframework::Shader mPhongShader;
+
+        /// All the spheres of the scene
+        std::vector<Box*> mBoxes;
+
+        std::vector<Sphere*> mSpheres;
+
+        std::vector<Cone*> mCones;
+
+        std::vector<Cylinder*> mCylinders;
+
+        std::vector<Capsule*> mCapsules;
+
+        /// All the convex meshes of the scene
+        std::vector<ConvexMesh*> mConvexMeshes;
+
+        /// All the visual contact points
+        std::vector<VisualContactPoint*> mContactPoints;
+
+        /// Box for the floor
+        Box* mFloor;
+
+        /// Dynamics world used for the physics simulation
+        rp3d::DynamicsWorld* mDynamicsWorld;
+
+        /// True if the physics simulation is running
+        bool mIsRunning;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Scene(openglframework::GlutViewer* viewer);
+
+        /// Destructor
+        ~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

examples/common/Box.cpp

@@ -0,0 +1,192 @@
+/********************************************************************************
+* 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(1,0,0,1)},
+ {openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(1,0,0,1)},
+ {openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(1,0,0,1)}
+};
+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(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
+
+    // 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)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
+    const rp3d::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the cube in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+
+    // If the Vertex Buffer object has not been created yet
+    if (!areVBOsCreated) {
+        // Create the Vertex Buffer
+        createVBO();
+    }
+}
+
+// Destructor
+Box::~Box() {
+
+}
+
+// Render the cube at the correct position and with the correct orientation
+void Box::render(openglframework::Shader& shader,
+                 const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    // Set the vertex color
+    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    shader.setVector4Uniform("vertexColor", color);
+
+    // 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;
+}

examples/common/Box.h

@@ -0,0 +1,119 @@
+/********************************************************************************
+* 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;
+
+        /// 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;
+
+        /// Main color of the box
+        openglframework::Color mColor;
+
+        // -------------------- 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, const openglframework::Matrix4& worldToCameraMatrix);
+
+        /// Set the color of the box
+        void setColor(const openglframework::Color& color);
+};
+
+// Return a pointer to the rigid body of the box
+inline rp3d::RigidBody* Box::getRigidBody() {
+    return mRigidBody;
+}
+
+// Set the color of the box
+inline void Box::setColor(const openglframework::Color& color) {
+    mColor = color;
+}
+
+#endif

examples/common/CMakeLists.txt

@@ -0,0 +1,4 @@
+# Minimum cmake version required
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+ADD_SUBDIRECTORY(opengl-framework/)

examples/common/Capsule.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Capsule.h"
+
+
+// Constructor
+Capsule::Capsule(float radius, float height, const openglframework::Vector3 &position,
+                 float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+        : openglframework::Mesh(), mRadius(radius), mHeight(height) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/capsule.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, (mHeight + 2.0f * mRadius) / 3.0f, 0,0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1.0f);
+
+    // 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 Dynamics::createRigidBody()
+    const rp3d::CapsuleShape collisionShape(mRadius, mHeight);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the sphere in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Capsule::~Capsule() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the sphere at the correct position and with the correct orientation
+void Capsule::render(openglframework::Shader& shader,
+                     const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
+    if(hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}
+
+// Update the transform matrix of the sphere
+void Capsule::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the sphere
+    float matrix[16];
+    transform.getOpenGLMatrix(matrix);
+    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
+                                       matrix[1], matrix[5], matrix[9], matrix[13],
+                                       matrix[2], matrix[6], matrix[10], matrix[14],
+                                       matrix[3], matrix[7], matrix[11], matrix[15]);
+
+    // Apply the scaling matrix to have the correct sphere dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Capsule.h

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

examples/common/Cone.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Cone.h"
+
+
+// Constructor
+Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
+           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+     : openglframework::Mesh(), mRadius(radius), mHeight(height) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/cone.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mHeight, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the cone will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (cone shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
+    const rp3d::ConeShape collisionShape(mRadius, mHeight);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the cone in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Cone::~Cone() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the cone at the correct position and with the correct orientation
+void Cone::render(openglframework::Shader& shader,
+                  const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
+    if(hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}
+
+// Update the transform matrix of the cone
+void Cone::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the cone
+    float matrix[16];
+    transform.getOpenGLMatrix(matrix);
+    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
+                                       matrix[1], matrix[5], matrix[9], matrix[13],
+                                       matrix[2], matrix[6], matrix[10], matrix[14],
+                                       matrix[3], matrix[7], matrix[11], matrix[15]);
+
+    // Apply the scaling matrix to have the correct cone dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Cone.h

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

examples/common/ConvexMesh.cpp

@@ -0,0 +1,149 @@
+/********************************************************************************
+* 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 "ConvexMesh.h"
+
+
+// Constructor
+ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass,
+                       reactphysics3d::DynamicsWorld* dynamicsWorld)
+           : openglframework::Mesh() {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/convexmesh.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Initialize the position where the sphere will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (convex mesh shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
+    rp3d::decimal* verticesArray = (rp3d::decimal*) getVerticesPointer();
+    rp3d::ConvexMeshShape collisionShape(verticesArray, mVertices.size(),
+                                         sizeof(openglframework::Vector3));
+
+    // Add the edges information of the mesh into the convex mesh collision shape.
+    // This is optional but it really speed up the convex mesh collision detection at the
+    // cost of some additional memory to store the edges inside the collision shape.
+    for (unsigned int i=0; i<getNbFaces(); i++) { // For each triangle face of the mesh
+
+        // Get the three vertex IDs of the vertices of the face
+        unsigned int v1 = getVertexIndexInFace(i, 0);
+        unsigned int v2 = getVertexIndexInFace(i, 1);
+        unsigned int v3 = getVertexIndexInFace(i, 2);
+
+        // Add the three edges into the collision shape
+        collisionShape.addEdge(v1, v2);
+        collisionShape.addEdge(v1, v3);
+        collisionShape.addEdge(v2, v3);
+    }
+    collisionShape.setIsEdgesInformationUsed(true);// Enable the fast collision detection with edges
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the sphere in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+ConvexMesh::~ConvexMesh() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the sphere at the correct position and with the correct orientation
+void ConvexMesh::render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
+    if(hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}
+
+// Update the transform matrix of the sphere
+void ConvexMesh::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the sphere
+    float matrix[16];
+    transform.getOpenGLMatrix(matrix);
+    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
+                                       matrix[1], matrix[5], matrix[9], matrix[13],
+                                       matrix[2], matrix[6], matrix[10], matrix[14],
+                                       matrix[3], matrix[7], matrix[11], matrix[15]);
+
+    // Apply the scaling matrix to have the correct sphere dimensions
+    mTransformMatrix = newMatrix;
+}

examples/common/ConvexMesh.h

@@ -0,0 +1,72 @@
+/********************************************************************************
+* 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 CONVEX_MESH_H
+#define CONVEX_MESH_H
+
+// Libraries
+#include "openglframework.h"
+#include "reactphysics3d.h"
+
+// Class ConvexMesh
+class ConvexMesh : public openglframework::Mesh {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Rigid body used to simulate the dynamics of the mesh
+        rp3d::RigidBody* mRigidBody;
+
+        // -------------------- Methods -------------------- //
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        ConvexMesh(const openglframework::Vector3& position, float mass,
+                   rp3d::DynamicsWorld* dynamicsWorld);
+
+        /// Destructor
+        ~ConvexMesh();
+
+        /// Return a pointer to the rigid body of the mesh
+        rp3d::RigidBody* getRigidBody();
+
+        /// Update the transform matrix of the mesh
+        void updateTransform();
+
+        /// Render the mesh at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
+};
+
+// Return a pointer to the rigid body of the mesh
+inline rp3d::RigidBody* ConvexMesh::getRigidBody() {
+    return mRigidBody;
+}
+
+#endif

examples/common/Cylinder.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Cylinder.h"
+
+
+// Constructor
+Cylinder::Cylinder(float radius, float height, const openglframework::Vector3 &position,
+           float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+     : openglframework::Mesh(), mRadius(radius), mHeight(height) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/cylinder.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mHeight, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the cylinder will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (cylinder shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
+    const rp3d::CylinderShape collisionShape(mRadius, mHeight);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the cylinder in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Cylinder::~Cylinder() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the cylinder at the correct position and with the correct orientation
+void Cylinder::render(openglframework::Shader& shader,
+                      const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
+    if(hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}
+
+// Update the transform matrix of the cylinder
+void Cylinder::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the cylinder
+    float matrix[16];
+    transform.getOpenGLMatrix(matrix);
+    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
+                                       matrix[1], matrix[5], matrix[9], matrix[13],
+                                       matrix[2], matrix[6], matrix[10], matrix[14],
+                                       matrix[3], matrix[7], matrix[11], matrix[15]);
+
+    // Apply the scaling matrix to have the correct cylinder dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Cylinder.h

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

examples/common/Sphere.cpp

@@ -0,0 +1,136 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "Sphere.h"
+
+
+// Constructor
+Sphere::Sphere(float radius, const openglframework::Vector3 &position,
+               float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
+       : openglframework::Mesh(), mRadius(radius) {
+
+    // Load the mesh from a file
+    openglframework::MeshReaderWriter::loadMeshFromFile("meshes/sphere.obj", *this);
+
+    // Calculate the normals of the mesh
+    calculateNormals();
+
+    // Compute the scaling matrix
+    mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
+                                              0, mRadius, 0, 0,
+                                              0, 0, mRadius, 0,
+                                              0, 0, 0, 1);
+
+    // Initialize the position where the sphere will be rendered
+    translateWorld(position);
+
+    // Create the collision shape for the rigid body (sphere shape)
+    // ReactPhysics3D will clone this object to create an internal one. Therefore,
+    // it is OK if this object is destroyed right after calling Dynamics::createRigidBody()
+    const rp3d::SphereShape collisionShape(mRadius);
+
+    // Compute the inertia tensor of the body using its collision shape
+    rp3d::Matrix3x3 inertiaTensor;
+    collisionShape.computeLocalInertiaTensor(inertiaTensor, mass);
+
+    // Initial position and orientation of the rigid body
+    rp3d::Vector3 initPosition(position.x, position.y, position.z);
+    rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
+    rp3d::Transform transform(initPosition, initOrientation);
+
+    // Create a rigid body corresponding to the sphere in the dynamics world
+    mRigidBody = dynamicsWorld->createRigidBody(transform, mass, inertiaTensor, collisionShape);
+}
+
+// Destructor
+Sphere::~Sphere() {
+
+    // Destroy the mesh
+    destroy();
+}
+
+// Render the sphere at the correct position and with the correct orientation
+void Sphere::render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, getNormalsPointer());
+    if(hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}
+
+// Update the transform matrix of the sphere
+void Sphere::updateTransform() {
+
+    // Get the interpolated transform of the rigid body
+    rp3d::Transform transform = mRigidBody->getInterpolatedTransform();
+
+    // Compute the transform used for rendering the sphere
+    float matrix[16];
+    transform.getOpenGLMatrix(matrix);
+    openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
+                                       matrix[1], matrix[5], matrix[9], matrix[13],
+                                       matrix[2], matrix[6], matrix[10], matrix[14],
+                                       matrix[3], matrix[7], matrix[11], matrix[15]);
+
+    // Apply the scaling matrix to have the correct sphere dimensions
+    mTransformMatrix = newMatrix * mScalingMatrix;
+}

examples/common/Sphere.h

@@ -23,59 +23,56 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef CONTACT_INFO_H
-#define	CONTACT_INFO_H
+#ifndef SPHERE_H
+#define SPHERE_H
 
 // Libraries
-#include "../collision/shapes/BoxShape.h"
-#include "../mathematics/mathematics.h"
+#include "openglframework.h"
+#include "reactphysics3d.h"
 
-// ReactPhysics3D namespace
-namespace reactphysics3d {
+// Class Sphere
+class Sphere : public openglframework::Mesh {
 
-// Structure ContactInfo
-/**
- * This structure contains informations about a collision contact
- * computed during the narrow-phase collision detection. Those
- * informations are used to compute the contact set for a contact
- * between two bodies.
- */
-struct ContactInfo {
-
-    private:
-
-        // -------------------- Methods -------------------- //
-
-        /// Private copy-constructor
-        ContactInfo(const ContactInfo& contactInfo);
-
-        /// Private assignment operator
-        ContactInfo& operator=(const ContactInfo& contactInfo);
-
-    public:
+    private :
 
         // -------------------- Attributes -------------------- //
 
-        /// Normal vector the the collision contact in world space
-        const Vector3 normal;
+        /// Radius of the sphere
+        float mRadius;
 
-        /// Penetration depth of the contact
-        const decimal penetrationDepth;
+        /// Rigid body used to simulate the dynamics of the sphere
+        rp3d::RigidBody* mRigidBody;
 
-        /// Contact point of body 1 in local space of body 1
-        const Vector3 localPoint1;
+        /// Scaling matrix (applied to a sphere to obtain the correct sphere dimensions)
+        openglframework::Matrix4 mScalingMatrix;
 
-        /// Contact point of body 2 in local space of body 2
-        const Vector3 localPoint2;
+        // -------------------- Methods -------------------- //
+
+    public :
 
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        ContactInfo(const Vector3& normal, decimal penetrationDepth,
-                    const Vector3& localPoint1, const Vector3& localPoint2);
+        Sphere(float radius, const openglframework::Vector3& position,
+               float mass, rp3d::DynamicsWorld* dynamicsWorld);
+
+        /// Destructor
+        ~Sphere();
+
+        /// Return a pointer to the rigid body of the sphere
+        rp3d::RigidBody* getRigidBody();
+
+        /// Update the transform matrix of the sphere
+        void updateTransform();
+
+        /// Render the sphere at the correct position and with the correct orientation
+        void render(openglframework::Shader& shader,
+                    const openglframework::Matrix4& worldToCameraMatrix);
 };
 
+// Return a pointer to the rigid body of the sphere
+inline rp3d::RigidBody* Sphere::getRigidBody() {
+    return mRigidBody;
 }
 
 #endif
-

examples/common/Viewer.cpp

@@ -0,0 +1,85 @@
+/********************************************************************************
+* 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 = static_cast<int>(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() {
+
+#ifdef USE_FREEGLUT
+    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());
+#endif
+}

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

examples/common/VisualContactPoint.cpp

@@ -0,0 +1,115 @@
+/********************************************************************************
+* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
+* Copyright (c) 2010-2013 Daniel Chappuis                                       *
+*********************************************************************************
+*                                                                               *
+* This software is provided 'as-is', without any express or implied warranty.   *
+* In no event will the authors be held liable for any damages arising from the  *
+* use of this software.                                                         *
+*                                                                               *
+* Permission is granted to anyone to use this software for any purpose,         *
+* including commercial applications, and to alter it and redistribute it        *
+* freely, subject to the following restrictions:                                *
+*                                                                               *
+* 1. The origin of this software must not be misrepresented; you must not claim *
+*    that you wrote the original software. If you use this software in a        *
+*    product, an acknowledgment in the product documentation would be           *
+*    appreciated but is not required.                                           *
+*                                                                               *
+* 2. Altered source versions must be plainly marked as such, and must not be    *
+*    misrepresented as being the original software.                             *
+*                                                                               *
+* 3. This notice may not be removed or altered from any source distribution.    *
+*                                                                               *
+********************************************************************************/
+
+// Libraries
+#include "VisualContactPoint.h"
+
+// Initialization of static variables
+int VisualContactPoint::mNbTotalPoints = 0;
+bool VisualContactPoint::mIsMeshInitialized = false;
+openglframework::Mesh VisualContactPoint::mMesh;
+
+// Constructor
+VisualContactPoint::VisualContactPoint(const openglframework::Vector3 &position) {
+
+    assert(mIsMeshInitialized);
+
+    // Initialize the position where the sphere will be rendered
+    translateWorld(position);
+}
+
+// Destructor
+VisualContactPoint::~VisualContactPoint() {
+
+}
+
+// Load and initialize the mesh for all the contact points
+void VisualContactPoint::createStaticData() {
+
+    if (!mIsMeshInitialized) {
+
+        // Load the mesh from a file
+        openglframework::MeshReaderWriter::loadMeshFromFile("meshes/sphere.obj", mMesh);
+
+        // Calculate the normals of the mesh
+        mMesh.calculateNormals();
+
+        mMesh.scaleVertices(VISUAL_CONTACT_POINT_RADIUS);
+
+        mIsMeshInitialized = true;
+    }
+}
+
+// Destroy the mesh for the contact points
+void VisualContactPoint::destroyStaticData() {
+
+    mMesh.destroy();
+    mIsMeshInitialized = false;
+}
+
+// Render the sphere at the correct position and with the correct orientation
+void VisualContactPoint::render(openglframework::Shader& shader,
+                                const openglframework::Matrix4& worldToCameraMatrix) {
+
+    // Bind the shader
+    shader.bind();
+
+    // Set the model to camera matrix
+    const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
+    shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix);
+
+    // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
+    // model-view matrix)
+    const openglframework::Matrix3 normalMatrix =
+                       localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
+    shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
+
+    glEnableClientState(GL_VERTEX_ARRAY);
+    glEnableClientState(GL_NORMAL_ARRAY);
+    if (mMesh.hasTexture()) {
+        glEnableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    glVertexPointer(3, GL_FLOAT, 0, mMesh.getVerticesPointer());
+    glNormalPointer(GL_FLOAT, 0, mMesh.getNormalsPointer());
+    if(mMesh.hasTexture()) {
+        glTexCoordPointer(2, GL_FLOAT, 0, mMesh.getUVTextureCoordinatesPointer());
+    }
+
+    // For each part of the mesh
+    for (unsigned int i=0; i<mMesh.getNbParts(); i++) {
+        glDrawElements(GL_TRIANGLES, mMesh.getNbFaces(i) * 3,
+                       GL_UNSIGNED_INT, mMesh.getIndicesPointer());
+    }
+
+    glDisableClientState(GL_NORMAL_ARRAY);
+    glDisableClientState(GL_VERTEX_ARRAY);
+    if (mMesh.hasTexture()) {
+        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+    }
+
+    // Unbind the shader
+    shader.unbind();
+}

examples/common/VisualContactPoint.h

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

examples/common/meshes/cone.obj

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+# www.blender.org
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examples/common/meshes/convexmesh.obj

@@ -0,0 +1,125 @@
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+# www.blender.org
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examples/common/meshes/cylinder.obj

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+# www.blender.org
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examples/common/meshes/sphere.obj

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+# www.blender.org
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examples/common/opengl-framework/CMakeLists.txt

@@ -0,0 +1,109 @@
+# Minimum cmake version required
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+# Project configuration
+PROJECT(OPENGLFRAMEWORK)
+
+# Options
+OPTION(USE_JPEG_TEXTURES "Select this if you want to use jpeg textures (libjpeg required)" OFF)
+
+# Where to find the module to find special packages/libraries
+SET(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
+
+# Find OpenGL
+FIND_PACKAGE(OpenGL REQUIRED)
+IF(OPENGL_FOUND)
+   MESSAGE("OpenGL found")
+ELSE()
+   MESSAGE("OpenGL not found")
+ENDIF()
+
+# Find the GLEW library
+FIND_PACKAGE(GLEW REQUIRED)
+IF(GLEW_FOUND)
+   MESSAGE("GLEW found")
+ELSE()
+   MESSAGE("GLEW not found")
+ENDIF()
+
+# Find the GLUT/FREEGLUT library
+IF(APPLE)
+
+    # Find the GLUT library
+    FIND_PACKAGE(GLUT REQUIRED)
+    IF(GLUT_FOUND)
+        MESSAGE("GLUT found")
+    ELSE(GLUT_FOUND)
+        MESSAGE(SEND_ERROR "GLUT not found")
+    ENDIF(GLUT_FOUND)
+
+ELSE(APPLE)
+
+    # Find the FREEGLUT library
+    FIND_PACKAGE(FREEGLUT REQUIRED)
+    IF(FREEGLUT_FOUND)
+        MESSAGE("FREEGLUT found")
+    ELSE(FREEGLUT_FOUND)
+        MESSAGE(SEND_ERROR "FREEGLUT not found")
+    ENDIF(FREEGLUT_FOUND)
+
+ENDIF(APPLE)
+
+# If the user wants to use JPEG textures
+IF(USE_JPEG_TEXTURES)
+
+    # Find the LIBJPEG library
+    FIND_PACKAGE(JPEG REQUIRED)
+    IF(JPEG_FOUND)
+        MESSAGE("LIBJPEG found")
+    ELSE()
+        MESSAGE("LIBJPEG not found")
+    ENDIF()
+ENDIF()
+
+# Headers
+INCLUDE_DIRECTORIES(src ${OPENGL_INCLUDE_DIR} ${GLEW_INCLUDE_PATH} ${FREEGLUT_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${JPEG_INCLUDE_DIR})
+
+# Source files
+SET(OPENGL_FRAMEWORK_SOURCES
+    "src/maths/Color.h"
+    "src/maths/Matrix3.h"
+    "src/maths/Matrix4.h"
+    "src/maths/Vector2.h"
+    "src/maths/Vector3.h"
+    "src/maths/Vector4.h"
+    "src/Camera.cpp"
+    "src/Camera.h"
+    "src/definitions.h"
+    "src/FrameBufferObject.cpp"
+    "src/FrameBufferObject.h"
+    "src/GlutViewer.cpp"
+    "src/GlutViewer.h"
+    "src/Light.h"
+    "src/Light.cpp"
+    "src/Mesh.h"
+    "src/Mesh.cpp"
+    "src/MeshReaderWriter.h"
+    "src/MeshReaderWriter.cpp"
+    "src/Object3D.h"
+    "src/Object3D.cpp"
+    "src/openglframework.h"
+    "src/Shader.h"
+    "src/Shader.cpp"
+    "src/Texture2D.h"
+    "src/Texture2D.cpp"
+    "src/TextureReaderWriter.h"
+    "src/TextureReaderWriter.cpp"
+    "src/VertexBufferObject.h"
+    "src/VertexBufferObject.cpp"
+)
+
+IF(USE_JPEG_TEXTURES)
+    ADD_DEFINITIONS(-DUSE_JPEG_TEXTURE)
+ENDIF()
+
+# Create the library
+ADD_LIBRARY (openglframework STATIC ${OPENGL_FRAMEWORK_SOURCES})
+
+# Link with others libraries
+TARGET_LINK_LIBRARIES(openglframework ${GLEW_LIBRARIES} ${OPENGL_LIBRARY} ${FREEGLUT_LIBRARY} ${GLUT_LIBRARY})

examples/common/opengl-framework/cmake/FindFREEGLUT.cmake

@@ -0,0 +1,32 @@
+# This module is used to try to find the Freeglut library and include files
+
+IF(WIN32)
+	FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h)
+	FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static
+                 PATHS ${OPENGL_LIBRARY_DIR})
+ELSE(WIN32)
+	
+	IF(APPLE)
+		# Do nothing, we do not want to use freeglut on Mac OS X
+	ELSE(APPLE)
+		FIND_PATH(FREEGLUT_INCLUDE_DIR GL/freeglut.h /usr/include/GL
+                  /usr/openwin/share/include
+				  /usr/openwin/include
+                  /opt/graphics/OpenGL/include
+                  /opt/graphics/OpenGL/contrib/libglut)
+
+		FIND_LIBRARY(FREEGLUT_LIBRARY NAMES glut freeglut freeglut_static PATHS /usr/openwin/lib)
+		FIND_LIBRARY(Xi_LIBRARY Xi /usr/openwin/lib)
+		FIND_LIBRARY(Xmu_LIBRARY Xmu /usr/openwin/lib)
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEGLUT REQUIRED_VARS FREEGLUT_LIBRARY FREEGLUT_INCLUDE_DIR)
+
+IF(FREEGLUT_FOUND)
+	SET(FREEGLUT_LIBRARIES ${FREEGLUT_LIBRARY} ${Xi_LIBRARY} ${Xmu_LIBRARY})
+	SET(FREEGLUT_LIBRARY ${FREEGLUT_LIBRARIES})
+ENDIF(FREEGLUT_FOUND)
+
+MARK_AS_ADVANCED(FREEGLUT_INCLUDE_DIR FREEGLUT_LIBRARY Xi_LIBRARY Xmu_LIBRARY)

examples/common/opengl-framework/cmake/FindGLEW.cmake

@@ -0,0 +1,65 @@
+#
+# Try to find GLEW library and include path.
+# Once done this will define
+#
+# GLEW_FOUND
+# GLEW_INCLUDE_PATH
+# GLEW_LIBRARY
+#
+
+IF (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+$ENV{PROGRAMFILES}/GLEW/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+IF (NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew64 glew64s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library (64-bit)"
+)
+ELSE(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew GLEW glew32 glew32s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library"
+)
+ENDIF(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+ELSE (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+/usr/include
+/usr/local/include
+/sw/include
+/opt/local/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES GLEW glew
+PATHS
+/usr/lib64
+/usr/lib
+/usr/local/lib64
+/usr/local/lib
+/sw/lib
+/opt/local/lib
+${GLEW_ROOT_DIR}/lib
+DOC "The GLEW library")
+ENDIF (WIN32)
+
+SET(GLEW_FOUND "NO")
+IF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+SET(GLEW_LIBRARIES ${GLEW_LIBRARY})
+SET(GLEW_FOUND "YES")
+ENDIF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GLEW DEFAULT_MSG GLEW_LIBRARY GLEW_INCLUDE_PATH)

examples/common/opengl-framework/src/Camera.cpp

@@ -0,0 +1,97 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Camera.h"
+#include "definitions.h"
+#include <cmath>
+
+// Namespaces
+using namespace openglframework;
+
+// Constructor
+Camera::Camera() : Object3D() {
+
+    // Set default values
+    mFieldOfView = 45.0f;
+    mSceneRadius = 1.0f;
+    mNearPlane = 0.1f;
+    mFarPlane = 10.0f;
+    mWidth = 1;
+    mHeight = 1;
+
+    // Update the projection matrix
+    updateProjectionMatrix();
+}
+
+// Destructor
+Camera::~Camera() {
+
+}
+
+// Update the projection matrix
+void Camera::updateProjectionMatrix() {
+
+    // Compute the aspect ratio
+    float aspect = float(mWidth) / float(mHeight);
+
+    float top = mNearPlane * tan((mFieldOfView / 2.0f) * (float(PI) / 180.0f));
+    float bottom = -top;
+    float left = bottom * aspect;
+    float right = top * aspect;
+
+    float fx = 2.0f * mNearPlane / (right - left);
+    float fy = 2.0f * mNearPlane / (top - bottom);
+    float fz = -(mFarPlane + mNearPlane) / (mFarPlane - mNearPlane);
+    float fw = -2.0f * mFarPlane * mNearPlane / (mFarPlane - mNearPlane);
+
+    // Recompute the projection matrix
+    mProjectionMatrix = Matrix4(fx, 0, 0, 0,
+                                0, fy, 0, 0,
+                                0, 0, fz, fw,
+                                0, 0, -1, 0);
+}
+
+// Translate the camera go a given point using the dx, dy fraction
+void Camera::translateCamera(float dx, float dy, const Vector3& worldPoint) {
+
+    // Transform the world point into camera coordinates
+    Vector3 pointCamera = mTransformMatrix.getInverse() * worldPoint;
+
+    // Get the depth
+    float z = -pointCamera.z;
+
+    // Find the scaling of dx and dy from windows coordinates to near plane coordinates
+    // and from there to camera coordinates at the object's depth
+    float aspect = float(mWidth) / float(mHeight);
+    float top = mNearPlane * tan(mFieldOfView * PI / 360.0f);
+    float right = top * aspect;
+
+    // Translate the camera
+    translateLocal(Vector3(2.0f * dx * right / mNearPlane * z,
+                           -2.0f * dy * top / mNearPlane * z,
+                           0.0f));
+}

examples/common/opengl-framework/src/Camera.h

@@ -0,0 +1,181 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 CAMERA_H
+#define CAMERA_H
+
+// Libraries
+#include "Object3D.h"
+#include "definitions.h"
+
+namespace openglframework {
+
+// Class Camera
+class Camera : public Object3D {
+
+    protected :
+
+        // ------------------- Attributes ------------------- //
+
+        // Field of view
+        float mFieldOfView;
+
+        // Radius of the scene
+        float mSceneRadius;
+
+        // Near plane
+        float mNearPlane;
+
+        // Far plane
+        float mFarPlane;
+
+        // Width of the camera
+        uint mWidth;
+
+        // Height of the camera
+        uint mHeight;
+
+        // Projection matrix
+        Matrix4 mProjectionMatrix;
+
+        // ------------------- Methods ------------------- //
+
+        // Update the projection matrix
+        void updateProjectionMatrix();
+
+    public:
+
+        // ------------------- Methods ------------------- //
+
+        // Constructor
+        Camera();
+
+        // Destructor
+        ~Camera();
+
+        // Get the projection matrix
+        const Matrix4& getProjectionMatrix() const;
+
+        // Set the dimensions of the camera
+        void setDimensions(uint width, uint height);
+
+        // Get the radius of the scene the camera should capture
+        float getSceneRadius() const;
+
+        // Set the radius of the scene the camera should capture
+        // This will update the clipping planes accordingly
+        void setSceneRadius(float radius);
+
+        // Set the clipping planes
+        void setClippingPlanes(float near, float far);
+
+        // Set the field of view
+        void setFieldOfView(float fov);
+
+        // Set the zoom of the camera (a fraction between 0 and 1)
+        void setZoom(float fraction);
+
+        // Translate the camera go a given point using the dx, dy fraction
+        void translateCamera(float dx, float dy, const Vector3& worldPoint);
+
+        // Get the near clipping plane
+        float getNearClippingPlane() const;
+
+        // Get the far clipping plane
+        float getFarClippingPlane() const;
+
+        // Get the width
+        uint getWidth() const;
+
+        // Get the height
+        uint getHeight() const;
+};
+
+// Get the projection matrix
+inline const Matrix4& Camera::getProjectionMatrix() const {
+    return mProjectionMatrix;
+}
+
+// Set the dimensions of the camera
+inline void Camera::setDimensions(uint width, uint height) {
+    mWidth = width;
+    mHeight = height;
+    updateProjectionMatrix();
+}
+
+// Get the radius of the scene the camera should capture
+inline float Camera::getSceneRadius() const {
+    return mSceneRadius;
+}
+
+// Set the radius of the scene the camera should capture
+// This will update the clipping planes accordingly
+inline void Camera::setSceneRadius(float radius) {
+    mSceneRadius = radius;
+    setClippingPlanes(0.01f * radius, 10.0f * radius);
+}
+
+// Set the clipping planes
+inline void Camera::setClippingPlanes(float near, float far) {
+    mNearPlane = near;
+    mFarPlane = far;
+    updateProjectionMatrix();
+}
+
+// Set the field of view
+inline void Camera::setFieldOfView(float fov) {
+    mFieldOfView = fov;
+    updateProjectionMatrix();
+}
+
+// Set the zoom of the camera (a fraction between 0 and 1)
+inline void Camera::setZoom(float fraction) {
+    Vector3 zoomVector(0, 0, mSceneRadius * fraction * 3.0f);
+    translateLocal(zoomVector);
+}
+
+// Get the near clipping plane
+inline float Camera::getNearClippingPlane() const {
+    return mNearPlane;
+}
+
+// Get the far clipping plane
+inline float Camera::getFarClippingPlane() const {
+    return mFarPlane;
+}
+
+// Get the width
+inline uint Camera::getWidth() const {
+    return mWidth;
+}
+
+// Get the height
+inline uint Camera::getHeight() const {
+    return mHeight;
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/FrameBufferObject.cpp

@@ -0,0 +1,115 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "FrameBufferObject.h"
+#include <iostream>
+
+using namespace openglframework;
+using namespace std;
+
+// Constructor
+FrameBufferObject::FrameBufferObject() : mFrameBufferID(0), mRenderBufferID (0) {
+
+}
+
+// Destructor
+FrameBufferObject::~FrameBufferObject() {
+
+}
+
+// Create the frame buffer object
+bool FrameBufferObject::create(uint width, uint height, bool needRenderBuffer) {
+
+    // Destroy the current FBO
+    destroy();
+
+    // Check that the needed OpenGL extensions are available
+    bool isExtensionOK = checkOpenGLExtensions();
+    if (!isExtensionOK) {
+        std::cerr << "Error : Impossible to use Framebuffer Object on this platform" << std::endl;
+        assert(false);
+        return false;
+    }
+
+    // Generate a new FBO
+    glGenFramebuffersEXT(1, &mFrameBufferID);
+    assert(mFrameBufferID != 0);
+
+    // If we also need to create a render buffer
+    if (needRenderBuffer) {
+
+        // Generate the render buffer
+        glGenRenderbuffers(1, &mRenderBufferID);
+        assert(mRenderBufferID != 0);
+
+        glBindRenderbuffer(GL_RENDERBUFFER, mRenderBufferID);
+        glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT32, width, height);
+        glBindFramebuffer(GL_FRAMEBUFFER, mFrameBufferID);
+        glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER,
+                                  mRenderBufferID);
+        glBindRenderbuffer(GL_RENDERBUFFER, 0);
+        glBindFramebuffer(GL_FRAMEBUFFER, 0);
+    }
+
+    // Check the FBO status
+    GLenum statusFBO = glCheckFramebufferStatus(GL_FRAMEBUFFER);
+    if(statusFBO != GL_FRAMEBUFFER_COMPLETE) {
+        std::cerr << "Error : An error occured while creating the Frame Buffer Object !" << endl;
+        assert(false);
+        return false;
+    }
+
+    return true;
+}
+
+// Destroy the FBO
+void FrameBufferObject::destroy() {
+
+    // Delete the frame buffer object
+    if (mFrameBufferID) {
+        glDeleteFramebuffers(1, &mFrameBufferID);
+        mFrameBufferID = 0;
+    }
+
+    // Delete the render buffer
+    if (mRenderBufferID) {
+        glDeleteRenderbuffers(1, &mRenderBufferID);
+    }
+}
+
+// Attach a texture to the frame buffer object
+void FrameBufferObject::attachTexture(uint position, uint textureID) {
+    assert(mFrameBufferID);
+
+    // Bind the current FBO
+    glBindFramebuffer(GL_FRAMEBUFFER, mFrameBufferID);
+
+    // Bind the texture
+    glFramebufferTexture2D(GL_FRAMEBUFFER, position, GL_TEXTURE_2D, textureID, 0);
+
+    // Unbind the current FBO
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+}

examples/common/opengl-framework/src/FrameBufferObject.h

@@ -0,0 +1,105 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 FRAME_BUFFER_OBJECT_H
+#define FRAME_BUFFER_OBJECT_H
+
+// Libraries
+#include "definitions.h"
+#include <GL/glew.h>
+#include <cassert>
+#include <iostream>
+
+namespace openglframework {
+
+
+// Class FrameBufferObject
+class FrameBufferObject {
+
+    private:
+
+        // -------------------- Attributes -------------------- //
+
+        // Frame buffer ID
+        uint mFrameBufferID;
+
+        // Render buffer ID
+        uint mRenderBufferID;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        FrameBufferObject();
+
+        // Destructor
+        ~FrameBufferObject();
+
+        // Create the frame buffer object
+        bool create(uint width, uint height, bool needRenderBuffer = true);
+
+        // Attach a texture to the frame buffer object
+        void attachTexture(uint position, uint textureID);
+
+        // Bind the FBO
+        void bind(uint position) const;
+
+        // Unbind the FBO
+        void unbind() const;
+
+        // Return true if the needed OpenGL extensions are available for FBO
+        static bool checkOpenGLExtensions();
+
+        // Destroy the FBO
+        void destroy();
+};
+
+// Bind the FBO
+inline void FrameBufferObject::bind(uint position) const {
+    assert(mFrameBufferID != 0);
+    glBindFramebuffer(GL_FRAMEBUFFER, mFrameBufferID);
+    glDrawBuffer(position);
+    glReadBuffer(position);
+}
+
+// Unbind the FBO
+inline void FrameBufferObject::unbind() const {
+    assert(mFrameBufferID != 0);
+    glDrawBuffer(GL_NONE);
+    glReadBuffer(GL_NONE);
+    glBindFramebuffer(GL_FRAMEBUFFER, 0);
+}
+
+// Return true if the needed OpenGL extensions are available for FBO
+inline bool FrameBufferObject::checkOpenGLExtensions() {
+
+    // Check that OpenGL version is at least 3.0 or there the framebuffer object extension exists
+    return (GLEW_VERSION_3_0 || GLEW_ARB_framebuffer_object);
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/GlutViewer.cpp

@@ -0,0 +1,270 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "GlutViewer.h"
+#include <string>
+
+// Namespaces
+using namespace openglframework;
+using namespace std;
+
+// Constructor
+GlutViewer::GlutViewer() {
+
+    // Initialize the state of the mouse buttons
+    for (int i=0; i<10; i++) {
+        mIsButtonDown[i] = false;
+    }
+}
+
+// Destructor
+GlutViewer::~GlutViewer() {
+
+}
+
+// Initialize the viewer
+bool GlutViewer::init(int argc, char** argv, const string& windowsTitle,
+                      const Vector2& windowsSize, const Vector2& windowsPosition,
+                      bool isMultisamplingActive) {
+
+    // Initialize the GLUT library
+    bool outputValue = initGLUT(argc, argv, windowsTitle, windowsSize,
+                                windowsPosition, isMultisamplingActive);
+
+    // Active the multi-sampling by default
+    if (isMultisamplingActive) {
+        activateMultiSampling(true);
+    }
+
+    return outputValue;
+}
+
+// Initialize the GLUT library
+bool GlutViewer::initGLUT(int argc, char** argv, const string& windowsTitle,
+                        const Vector2& windowsSize, const Vector2& windowsPosition,
+                        bool isMultisamplingActive) {
+
+    // Initialize GLUT
+    glutInit(&argc, argv);
+    uint modeWithoutMultiSampling = GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH;
+    uint modeWithMultiSampling = GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH | GL_MULTISAMPLE;
+    uint displayMode = isMultisamplingActive ? modeWithMultiSampling : modeWithoutMultiSampling;
+    glutInitDisplayMode(displayMode);
+
+    // Initialize the size of the GLUT windows
+    glutInitWindowSize(static_cast<int>(windowsSize.x),
+                       static_cast<int>(windowsSize.y));
+
+    // Initialize the position of the GLUT windows
+    glutInitWindowPosition(static_cast<int>(windowsPosition.x),
+                           static_cast<int>(windowsPosition.y));
+
+    // Create the GLUT windows
+    glutCreateWindow(windowsTitle.c_str());
+
+    // Initialize the GLEW library
+    GLenum error = glewInit();
+    if (error != GLEW_OK) {
+
+        // Problem: glewInit failed, something is wrong
+        cerr << "GLEW Error : " << glewGetErrorString(error) << std::endl;
+        assert(false);
+        return false;
+    }
+
+    return true;
+}
+
+// Set the camera so that we can view the whole scene
+void GlutViewer::resetCameraToViewAll() {
+
+    // Move the camera to the origin of the scene
+    mCamera.translateWorld(-mCamera.getOrigin());
+
+    // Move the camera to the center of the scene
+    mCamera.translateWorld(mCenterScene);
+
+    // Set the zoom of the camera so that the scene center is
+    // in negative view direction of the camera
+    mCamera.setZoom(1.0);
+}
+
+// Called when a GLUT mouse button event occurs
+void GlutViewer::mouseButtonEvent(int button, int state, int x, int y) {
+
+    // If the mouse button is pressed
+    if (state == GLUT_DOWN) {
+        mLastMouseX = x;
+        mLastMouseY = y;
+        mIsLastPointOnSphereValid = mapMouseCoordinatesToSphere(x, y, mLastPointOnSphere);
+        mIsButtonDown[button] = true;
+    }
+    else {  // If the mouse button is released
+        mIsLastPointOnSphereValid = false;
+        mIsButtonDown[button] = false;
+
+        // If it is a mouse wheel click event
+        if (button == 3) {
+            zoom(0, (int) (y - 0.05f * mCamera.getWidth()));
+        }
+        else if (button == 4) {
+            zoom(0, (int) (y + 0.05f * mCamera.getHeight()));
+        }
+    }
+
+    mModifiers = glutGetModifiers();
+
+    // Notify GLUT to redisplay
+    glutPostRedisplay();
+}
+
+// Called when a GLUT mouse motion event occurs
+void GlutViewer::mouseMotionEvent(int xMouse, int yMouse) {
+
+    // Zoom
+    if ((mIsButtonDown[GLUT_LEFT_BUTTON] && mIsButtonDown[GLUT_MIDDLE_BUTTON]) ||
+        (mIsButtonDown[GLUT_LEFT_BUTTON] &&  mModifiers == GLUT_ACTIVE_ALT)) {
+        zoom(xMouse, yMouse);
+    }
+    // Translation
+    else if (mIsButtonDown[GLUT_MIDDLE_BUTTON] || mIsButtonDown[GLUT_RIGHT_BUTTON] ||
+             (mIsButtonDown[GLUT_LEFT_BUTTON] && (mModifiers == GLUT_ACTIVE_ALT))) {
+        translate(xMouse, yMouse);
+    }
+    // Rotation
+    else if (mIsButtonDown[GLUT_LEFT_BUTTON]) {
+        rotate(xMouse, yMouse);
+    }
+
+    // Remember the mouse position
+    mLastMouseX = xMouse;
+    mLastMouseY = yMouse;
+    mIsLastPointOnSphereValid = mapMouseCoordinatesToSphere(xMouse, yMouse, mLastPointOnSphere);
+
+    // Notify GLUT to redisplay
+    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 {
+
+    int width = mCamera.getWidth();
+    int height = mCamera.getHeight();
+
+    if ((xMouse >= 0) && (xMouse <= width) && (yMouse >= 0) && (yMouse <= height)) {
+        float x = float(xMouse - 0.5f * width) / float(width);
+        float y = float(0.5f * height - yMouse) / float(height);
+        float sinx = sin(PI * x * 0.5f);
+        float siny = sin(PI * y * 0.5f);
+        float sinx2siny2 = sinx * sinx + siny * siny;
+
+        // Compute the point on the sphere
+        spherePoint.x = sinx;
+        spherePoint.y = siny;
+        spherePoint.z = (sinx2siny2 < 1.0) ? sqrt(1.0f - sinx2siny2) : 0.0f;
+
+        return true;
+    }
+
+    return false;
+}
+
+// Zoom the camera
+void GlutViewer::zoom(int xMouse, int yMouse) {
+    float dy = static_cast<float>(yMouse - mLastMouseY);
+    float h = static_cast<float>(mCamera.getHeight());
+
+    // Zoom the camera
+    mCamera.setZoom(-dy / h);
+}
+
+// Translate the camera
+void GlutViewer::translate(int xMouse, int yMouse) {
+   float dx = static_cast<float>(xMouse - mLastMouseX);
+   float dy = static_cast<float>(yMouse - mLastMouseY);
+
+   // Translate the camera
+   mCamera.translateCamera(-dx / float(mCamera.getWidth()),
+                           -dy / float(mCamera.getHeight()), mCenterScene);
+}
+
+// Rotate the camera
+void GlutViewer::rotate(int xMouse, int yMouse) {
+
+    if (mIsLastPointOnSphereValid) {
+
+        Vector3 newPoint3D;
+        bool isNewPointOK = mapMouseCoordinatesToSphere(xMouse, yMouse, newPoint3D);
+
+        if (isNewPointOK) {
+            Vector3 axis = mLastPointOnSphere.cross(newPoint3D);
+            float cosAngle = mLastPointOnSphere.dot(newPoint3D);
+
+            float epsilon = std::numeric_limits<float>::epsilon();
+            if (fabs(cosAngle) < 1.0f && axis.length() > epsilon) {
+                axis.normalize();
+                float angle = 2.0f * acos(cosAngle);
+
+                // Rotate the camera around the center of the scene
+                mCamera.rotateAroundLocalPoint(axis, -angle, mCenterScene);
+            }
+        }
+    }
+}
+
+// Check the OpenGL errors
+void GlutViewer::checkOpenGLErrors() {
+    GLenum glError;
+
+    // Get the OpenGL errors
+    glError = glGetError();
+
+    // While there are errors
+    while (glError != GL_NO_ERROR) {
+
+        // Get the error string
+        const GLubyte* stringError = gluErrorString(glError);
+
+        // Display the error
+        if (stringError)
+            cerr << "OpenGL Error #" << glError << "(" << gluErrorString(glError) <<  endl;
+        else
+            cerr << "OpenGL Error #" << glError << " (no message available)" <<  endl;
+
+        // Get the next error
+        glError = glGetError();
+    }
+}

examples/common/opengl-framework/src/GlutViewer.h

@@ -0,0 +1,165 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 GLUT_VIEWER_H
+#define GLUT_VIEWER_H
+
+// Libraries
+#include "Shader.h"
+#include "Camera.h"
+#include "maths/Vector2.h"
+#include <string>
+#include <GL/glew.h>
+#ifdef __APPLE__
+    #include "GLUT/glut.h"
+#else
+    #include "GL/freeglut.h"
+#endif
+
+namespace openglframework {
+
+// Class Renderer
+class GlutViewer {
+
+    protected :
+
+        // -------------------- Attributes -------------------- //
+
+        // Camera
+        Camera mCamera;
+
+        // Center of the scene
+        Vector3 mCenterScene;
+
+        // Last mouse coordinates on the windows
+        int mLastMouseX, mLastMouseY;
+
+        // Last point computed on a sphere (for camera rotation)
+        Vector3 mLastPointOnSphere;
+
+        // True if the last point computed on a sphere (for camera rotation) is valid
+        bool mIsLastPointOnSphereValid;
+
+        // State of the mouse buttons
+        bool mIsButtonDown[10];
+
+        // GLUT keyboard modifiers
+        int mModifiers;
+
+        // -------------------- Methods -------------------- //
+
+        // Initialize the GLUT library
+        bool initGLUT(int argc, char** argv, const std::string& windowsTitle,
+                      const Vector2& windowsSize, const Vector2& windowsPosition,
+                      bool isMultisamplingActive);
+
+        bool mapMouseCoordinatesToSphere(int xMouse, int yMouse, Vector3& spherePoint) const;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        GlutViewer();
+
+        // Destructor
+        virtual ~GlutViewer();
+
+        // Initialize the viewer
+        bool init(int argc, char** argv, const std::string& windowsTitle,
+                  const Vector2& windowsSize, const Vector2& windowsPosition,
+                  bool isMultisamplingActive = false);
+
+        // Called when the windows is reshaped
+        void reshape(int width, int height);
+
+        // Set the scene position (where the camera needs to look at)
+        void setScenePosition(const Vector3& position, float sceneRadius);
+
+        // Set the camera so that we can view the whole scene
+        void resetCameraToViewAll();
+
+        // Enable/Disable the multi-sampling for anti-aliasing
+        void activateMultiSampling(bool isActive) const;
+
+        // Zoom the camera
+        void zoom(int xMouse, int yMouse);
+
+        // Translate the camera
+        void translate(int xMouse, int yMouse);
+
+        // Rotate the camera
+        void rotate(int xMouse, int yMouse);
+
+        // Get the camera
+        Camera& getCamera();
+
+        // 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);
+
+        // 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();
+};
+
+// Set the dimension of the camera viewport
+inline void GlutViewer::reshape(int width, int height) {
+    mCamera.setDimensions(width, height);
+    glViewport(0, 0, width, height);
+    glutPostRedisplay();
+}
+
+// Set the scene position (where the camera needs to look at)
+inline void GlutViewer::setScenePosition(const Vector3& position, float sceneRadius) {
+
+    // Set the position and radius of the scene
+    mCenterScene = position;
+    mCamera.setSceneRadius(sceneRadius);
+
+    // Reset the camera position and zoom in order to view all the scene
+    resetCameraToViewAll();
+}
+
+// Get the camera
+inline Camera& GlutViewer::getCamera() {
+   return mCamera;
+}
+
+// Enable/Disable the multi-sampling for anti-aliasing
+inline void GlutViewer::activateMultiSampling(bool isActive) const {
+    (isActive) ? glEnable(GL_MULTISAMPLE) : glDisable(GL_MULTISAMPLE);
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/Light.cpp

@@ -0,0 +1,100 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Light.h"
+
+// Namespaces
+using namespace openglframework;
+
+// Constructor
+Light::Light(GLuint id)
+      : mLightID(id), mDiffuseColor(Color::white()),
+        mSpecularColor(Color::white()), mIsActive(false) {
+
+}
+
+// Constructor
+Light::Light(GLuint id, Color diffuseColor, Color specularColor)
+      : mLightID(id), mDiffuseColor(diffuseColor),
+        mSpecularColor(specularColor), mIsActive(false) {
+
+}
+
+// Destructor
+Light::~Light() {
+
+}
+
+// Initialize the light
+void Light::init() {
+
+    // Enable the light
+    enable();
+
+    // Set the diffuse and specular color
+    GLfloat diffuseColor[] = {mDiffuseColor.r, mDiffuseColor.g, mDiffuseColor.b, mDiffuseColor.a};
+    GLfloat specularColor[] = {mSpecularColor.r,mSpecularColor.g,mSpecularColor.b,mSpecularColor.a};
+    glLightfv(mLightID, GL_DIFFUSE, diffuseColor);
+    glLightfv(mLightID, GL_SPECULAR, specularColor);
+}
+
+// Create a shadow map associated with this light
+bool Light::createShadowMap(uint width, uint height) {
+
+    // Destroy the current shadow map
+    destroyShadowMap();
+
+    // Create the Framebuffer object to render the shadow map
+    bool isFBOCreated = mFBOShadowMap.create(width, height, false);
+    if (!isFBOCreated) {
+        std::cerr << "Error : Cannot create the Shadow Map !" << std::endl;
+        destroyShadowMap();
+        return false;
+    }
+
+    // Bind the Framebuffer object
+    mFBOShadowMap.bind(GL_NONE);
+
+    // Create the shadow map depth texture
+    mShadowMap.create(width, height, GL_DEPTH_COMPONENT, GL_DEPTH_COMPONENT, GL_UNSIGNED_BYTE);
+
+    // Attache the shadow map texture to the Framebuffer object
+    mFBOShadowMap.attachTexture(GL_DEPTH_ATTACHMENT_EXT, mShadowMap.getID());
+
+    // Unbind the Framebuffer object
+    mFBOShadowMap.unbind();
+
+    // TODO : Change the path of the shader here so that it does not depend on the build folder
+    bool isShaderCreated = mDepthShader.create("../../opengl-framework/src/shaders/depth.vert",
+                                               "../../opengl-framework/src/shaders/depth.vert");
+    if (!isShaderCreated) {
+        std::cerr << "Error : Cannot create the Shadow Map !" << std::endl;
+        destroyShadowMap();
+        return false;
+    }
+
+    return true;
+}

examples/common/opengl-framework/src/Light.h

@@ -0,0 +1,181 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 LIGHT_H
+#define LIGHT_H
+
+// Libraries
+#include "maths/Color.h"
+#include "maths/Vector3.h"
+#include "Object3D.h"
+#include "Texture2D.h"
+#include "FrameBufferObject.h"
+#include "Shader.h"
+#include <GL/glew.h>
+
+namespace openglframework {
+
+// Class Light
+class Light : public Object3D {
+
+    private:
+
+        // -------------------- Attributes -------------------- //
+
+        // OpenGL light ID
+        GLuint mLightID;
+
+        // Diffuse color of the light
+        Color mDiffuseColor;
+
+        // Specular color of the light
+        Color mSpecularColor;
+
+        // True if the light is active
+        bool mIsActive;
+
+        // Shadow map associated with this light
+        Texture2D mShadowMap;
+
+        // Framebuffer object to render the shadow map
+        FrameBufferObject mFBOShadowMap;
+
+        // Shader to render the depth of the scene into a texture
+        Shader mDepthShader;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Light(GLuint id);
+
+        // Constructor
+        Light(GLuint id, Color diffuseColor, Color specularColor);
+
+        // Destructor
+        virtual ~Light();
+
+        // Return the diffuse color
+        Color getDiffuseColor() const;
+
+        // Set the diffuse color
+        void setDiffuseColor(const Color& color);
+
+        // Return the specular color
+        Color getSpecularColor() const;
+
+        // Set the specular color
+        void setSpecularColor(const Color& color);
+
+        // Return true if the light is active
+        bool getIsActive() const;
+
+        // Initialize the light
+        void init();
+
+        // Enable the light
+        void enable();
+
+        // Disable the light
+        void disable();
+
+        // Create a shadow map associated with this light
+        bool createShadowMap(uint width, uint height);
+
+        // Call this method before rendering the scene for the shadow map computation
+        void startRenderingShadowMap();
+
+        // Call this method after having rendered the scene for the shadow map computation
+        void stopRenderingShadowMap();
+
+        // Destroy the shadow map associated with this light
+        void destroyShadowMap();
+};
+
+// Return the diffuse color
+inline Color Light::getDiffuseColor() const {
+    return mDiffuseColor;
+}
+
+// Set the diffuse color
+inline void Light::setDiffuseColor(const Color& color) {
+    mDiffuseColor = color;
+}
+
+// Return the specular color
+inline Color Light::getSpecularColor() const {
+    return mSpecularColor;
+}
+
+// Set the specular color
+inline void Light::setSpecularColor(const Color& color) {
+    mSpecularColor = color;
+}
+
+// Return true if the light is active
+inline bool Light::getIsActive() const {
+    return mIsActive;
+}
+
+// Enable the light
+inline void Light::enable() {
+
+    mIsActive = true;
+
+    // Enable the light
+    glEnable(GL_LIGHTING);
+    glEnable(GL_LIGHT0 + mLightID);
+}
+
+// Disable the light
+inline void Light::disable() {
+
+    mIsActive = false;
+
+    // Disable the light
+    glDisable(GL_LIGHT0 + mLightID);
+}
+
+// Destroy the shadow map associated with this light
+inline void Light::destroyShadowMap() {
+    mShadowMap.destroy();
+    mFBOShadowMap.destroy();
+    mDepthShader.destroy();
+}
+
+// Call this method before rendering the scene for the shadow map computation
+inline void Light::startRenderingShadowMap() {
+    assert(mShadowMap.getID());
+}
+
+// Call this method after having rendered the scene for the shadow map computation
+inline void Light::stopRenderingShadowMap() {
+    assert(mShadowMap.getID());
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/Mesh.cpp

@@ -0,0 +1,176 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Mesh.h"
+
+// Namespaces
+using namespace openglframework;
+using namespace std;
+
+// Constructor
+Mesh::Mesh() {
+
+}
+
+// Destructor
+Mesh::~Mesh() {
+
+}
+
+// Destroy the mesh
+void Mesh::destroy() {
+
+    mVertices.clear();
+    mNormals.clear();
+    mTangents.clear();
+    mIndices.clear();
+    mColors.clear();
+    mUVs.clear();
+    mTextures.clear();
+}
+
+// Compute the normals of the mesh
+void Mesh::calculateNormals() {
+
+    mNormals = vector<Vector3>(getNbVertices(), Vector3(0, 0, 0));
+
+    // For each triangular face
+    for (uint i=0; i<getNbFaces(); i++) {
+
+        // Get the three vertices index of the current face
+        uint v1 = getVertexIndexInFace(i, 0);
+        uint v2 = getVertexIndexInFace(i, 1);
+        uint v3 = getVertexIndexInFace(i, 2);
+
+        assert(v1 < getNbVertices());
+        assert(v2 < getNbVertices());
+        assert(v3 < getNbVertices());
+
+        // Compute the normal of the face
+        Vector3 p = getVertex(v1);
+        Vector3 q = getVertex(v2);
+        Vector3 r = getVertex(v3);
+        Vector3 normal = (q-p).cross(r-p).normalize();
+
+        // Add the face surface normal to the sum of normals at
+        // each vertex of the face
+        mNormals[v1] += normal;
+        mNormals[v2] += normal;
+        mNormals[v3] += normal;
+    }
+
+    // Normalize the normal at each vertex
+    for (uint i=0; i<getNbVertices(); i++) {
+        mNormals[i] = mNormals[i].normalize();
+    }
+}
+
+// Compute the tangents of the mesh
+void Mesh::calculateTangents() {
+
+    mTangents = std::vector<Vector3>(getNbVertices(), Vector3(0, 0, 0));
+
+    // For each face
+    for (uint i=0; i<getNbFaces(); i++) {
+
+        // Get the three vertices index of the face
+        uint v1 = getVertexIndexInFace(i, 0);
+        uint v2 = getVertexIndexInFace(i, 1);
+        uint v3 = getVertexIndexInFace(i, 2);
+
+        assert(v1 < getNbVertices());
+        assert(v2 < getNbVertices());
+        assert(v3 < getNbVertices());
+
+        // Get the vertices positions
+        Vector3 p = getVertex(v1);
+        Vector3 q = getVertex(v2);
+        Vector3 r = getVertex(v3);
+
+        // Get the texture coordinates of each vertex
+        Vector2 uvP = getUV(v1);
+        Vector2 uvQ = getUV(v2);
+        Vector2 uvR = getUV(v3);
+
+        // Get the three edges
+        Vector3 edge1 = q - p;
+        Vector3 edge2 = r - p;
+        Vector2 edge1UV = uvQ - uvP;
+        Vector2 edge2UV = uvR - uvP;
+
+        float cp = edge1UV.y * edge2UV.x - edge1UV.x * edge2UV.y;
+
+        // Compute the tangent
+        if (cp != 0.0f) {
+            float factor = 1.0f / cp;
+            Vector3 tangent = (edge1 * -edge2UV.y + edge2 * edge1UV.y) * factor;
+            tangent.normalize();
+            mTangents[v1] = tangent;
+            mTangents[v2] = tangent;
+            mTangents[v3] = tangent;
+        }
+    }
+}
+
+// Calculate the bounding box of the mesh
+void Mesh::calculateBoundingBox(Vector3& min, Vector3& max) const {
+
+    // If the mesh contains vertices
+    if (!mVertices.empty())  {
+
+        min = mVertices[0];
+        max = mVertices[0];
+
+        std::vector<Vector3>::const_iterator  it(mVertices.begin());
+
+        // For each vertex of the mesh
+        for (; it != mVertices.end(); ++it) {
+
+            if( (*it).x < min.x ) min.x = (*it).x;
+            else if ( (*it).x > max.x ) max.x = (*it).x;
+
+            if( (*it).y < min.y ) min.y = (*it).y;
+            else if ( (*it).y > max.y ) max.y = (*it).y;
+
+            if( (*it).z < min.z ) min.z = (*it).z;
+            else if ( (*it).z > max.z ) max.z = (*it).z;
+        }
+    }
+    else {
+        std::cerr << "Error : Impossible to calculate the bounding box of the mesh because there" <<
+                    "are no vertices !" << std::endl;
+        assert(false);
+    }
+}
+
+// Scale of vertices of the mesh using a given factor
+void Mesh::scaleVertices(float factor) {
+
+    // For each vertex
+    for (uint i=0; i<getNbVertices(); i++) {
+        mVertices.at(i) *= factor;
+    }
+}

examples/common/opengl-framework/src/Mesh.h

@@ -0,0 +1,411 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 MESH_H
+#define MESH_H
+
+// Libraries
+#include <string>
+#include <vector>
+#include <map>
+#include "definitions.h"
+#include "maths/Vector2.h"
+#include "maths/Vector3.h"
+#include "maths/Color.h"
+#include "Texture2D.h"
+#include "Object3D.h"
+
+namespace openglframework {
+
+// Class Mesh
+// This class represents a 3D triangular mesh
+// object that can be loaded from an OBJ file for instance.
+class Mesh : public Object3D {
+
+    protected:
+
+        // -------------------- Attributes -------------------- //
+
+        // A triplet of vertex indices for each triangle
+        std::vector<std::vector<uint> > mIndices;
+
+        // Vertices coordinates (local space)
+        std::vector<Vector3> mVertices;
+
+        // Normals coordinates
+        std::vector<Vector3> mNormals;
+
+        // Tangents coordinates
+        std::vector<Vector3> mTangents;
+
+        // Color for each vertex
+        std::vector<Color> mColors;
+
+        // UV texture coordinates
+        std::vector<Vector2> mUVs;
+
+        // Textures of the mesh (one for each part of the mesh)
+        std::map<uint, Texture2D> mTextures;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Mesh();
+
+        // Destructor
+        virtual ~Mesh();
+
+        // Destroy the mesh
+        void destroy();
+
+        // Compute the normals of the mesh
+        void calculateNormals();
+
+        // Compute the tangents of the mesh
+        void calculateTangents();
+
+        // Calculate the bounding box of the mesh
+        void calculateBoundingBox(Vector3& min, Vector3& max) const;
+
+        // Scale of vertices of the mesh using a given factor
+        void scaleVertices(float factor);
+
+        // Return the number of triangles
+        uint getNbFaces(uint part = 0) const;
+
+        // Return the number of vertices
+        uint getNbVertices() const;
+
+        // Return the number of parts in the mesh
+        uint getNbParts() const;
+
+        // Return a reference to the vertices
+        const std::vector<Vector3>& getVertices() const;
+
+        // Set the vertices of the mesh
+        void setVertices(std::vector<Vector3>& vertices);
+
+        // Return a reference to the normals
+        const std::vector<Vector3>& getNormals() const;
+
+        // set the normals of the mesh
+        void setNormals(std::vector<Vector3>& normals);
+
+        // Return a reference to the UVs
+        const std::vector<Vector2>& getUVs() const;
+
+        // Set the UV texture coordinates of the mesh
+        void setUVs(std::vector<Vector2>& uvs);
+
+        // Return a reference to the vertex indices
+        const std::vector<uint>& getIndices(uint part = 0) const;
+
+        // Set the vertices indices of the mesh
+        void setIndices(std::vector<std::vector<uint> >& indices);
+
+        // Return the coordinates of a given vertex
+        const Vector3& getVertex(uint i) const;
+
+        // Set the coordinates of a given vertex
+        void setVertex(uint i, const Vector3& vertex);
+
+        // Return the coordinates of a given normal
+        const Vector3& getNormal(uint i) const;
+
+        // Set the coordinates of a given normal
+        void setNormal(uint i, const Vector3& normal);
+
+        // Return the color of a given vertex
+        const Color& getColor(uint i) const;
+
+        // Set the color of a given vertex
+        void setColor(uint i, const Color& color);
+
+        // Set a color to all the vertices
+        void setColorToAllVertices(const Color& color);
+
+        // Return the UV of a given vertex
+        const Vector2& getUV(uint i) const;
+
+        // Set the UV of a given vertex
+        void setUV(uint i, const Vector2& uv);
+
+        // Return the vertex index of the ith (i=0,1,2) vertex of a given face
+        uint getVertexIndexInFace(uint faceIndex, uint i, uint part = 0) const;
+
+        // Return true if the mesh has normals
+        bool hasNormals() const;
+
+        // Return true if the mesh has tangents
+        bool hasTangents() const;
+
+        // Return true if the mesh has vertex colors
+        bool hasColors() const;
+
+        // Return true if the mesh has UV texture coordinates
+        bool hasUVTextureCoordinates() const;
+
+        // Return true if the mesh has a texture for a given part of the mesh and if it
+        // also have texture coordinates
+        bool hasTextureForPart(uint part = 0) const;
+
+        // Return true if the mesh has a texture (and texture coordinates) for at least one
+        // part of the mesh
+        bool hasTexture() const;
+
+        // Return a pointer to the vertices data
+        void* getVerticesPointer();
+
+        // Return a pointer to the normals data
+        void* getNormalsPointer();
+
+        // Return a pointer to the colors data
+        void* getColorsPointer();
+
+        // Return a pointer to the tangents data
+        void* getTangentsPointer();
+
+        // Return a pointer to the UV texture coordinates data
+        void* getUVTextureCoordinatesPointer();
+
+        // Return a pointer to the vertex indicies data
+        void* getIndicesPointer(uint part = 0);
+
+        // Return a reference to a texture of the mesh
+        Texture2D &getTexture(uint part = 0);
+
+        // Set a texture to a part of the mesh
+        void setTexture(Texture2D &texture, uint part = 0);
+};
+
+// Return the number of triangles
+inline uint Mesh::getNbFaces(uint part) const {
+    return mIndices[part].size() / 3;
+}
+
+// Return the number of vertices
+inline uint Mesh::getNbVertices() const {
+    return mVertices.size();
+}
+
+// Return the number of parts in the mesh
+inline uint Mesh::getNbParts() const {
+    return mIndices.size();
+}
+
+// Return a reference to the vertices
+inline const std::vector<Vector3>& Mesh::getVertices() const {
+    return mVertices;
+}
+
+// Set the vertices of the mesh
+inline void Mesh::setVertices(std::vector<Vector3>& vertices) {
+    mVertices = vertices;
+}
+
+// Return a reference to the normals
+inline const std::vector<Vector3>& Mesh::getNormals() const {
+    return mNormals;
+}
+
+// set the normals of the mesh
+inline void Mesh::setNormals(std::vector<Vector3>& normals) {
+    mNormals = normals;
+}
+
+// Return a reference to the UVs
+inline const std::vector<Vector2>& Mesh::getUVs() const {
+    return mUVs;
+}
+
+// Set the UV texture coordinates of the mesh
+inline void Mesh::setUVs(std::vector<Vector2>& uvs) {
+    mUVs = uvs;
+}
+
+// Return a reference to the vertex indices
+inline const std::vector<uint>& Mesh::getIndices(uint part) const {
+    return mIndices[part];
+}
+
+// Set the vertices indices of the mesh
+inline void Mesh::setIndices(std::vector<std::vector<uint> >& indices) {
+    mIndices = indices;
+}
+
+// Return the coordinates of a given vertex
+inline const Vector3& Mesh::getVertex(uint i) const {
+    assert(i < getNbVertices());
+    return mVertices[i];
+}
+
+// Set the coordinates of a given vertex
+inline void Mesh::setVertex(uint i, const Vector3& vertex) {
+    assert(i < getNbVertices());
+    mVertices[i] = vertex;
+}
+
+// Return the coordinates of a given normal
+inline const Vector3& Mesh::getNormal(uint i) const {
+    assert(i < getNbVertices());
+    return mNormals[i];
+}
+
+// Set the coordinates of a given normal
+inline void Mesh::setNormal(uint i, const Vector3& normal) {
+    assert(i < getNbVertices());
+    mNormals[i] = normal;
+}
+
+// Return the color of a given vertex
+inline const Color& Mesh::getColor(uint i) const {
+    assert(i < getNbVertices());
+    return mColors[i];
+}
+
+// Set the color of a given vertex
+inline void Mesh::setColor(uint i, const Color& color) {
+
+    // If the color array does not have the same size as
+    // the vertices array
+    if (mColors.size() != mVertices.size()) {
+
+        // Create the color array with the same size
+        mColors = std::vector<Color>(mVertices.size());
+    }
+
+    mColors[i] = color;
+}
+
+// Set a color to all the vertices
+inline void Mesh::setColorToAllVertices(const Color& color) {
+
+    // If the color array does not have the same size as
+    // the vertices array
+    if (mColors.size() != mVertices.size()) {
+
+        // Create the color array with the same size
+        mColors = std::vector<Color>(mVertices.size());
+    }
+
+    for (size_t v=0; v<mVertices.size(); v++) {
+        mColors[v] = color;
+    }
+}
+
+// Return the UV of a given vertex
+inline const Vector2& Mesh::getUV(uint i) const {
+    assert(i < getNbVertices());
+    return mUVs[i];
+}
+
+// Set the UV of a given vertex
+inline void Mesh::setUV(uint i, const Vector2& uv) {
+    assert(i < getNbVertices());
+    mUVs[i] = uv;
+}
+
+// Return the vertex index of the ith (i=0,1,2) vertex of a given face
+inline uint Mesh::getVertexIndexInFace(uint faceIndex, uint i, uint part) const {
+    return (mIndices[part])[faceIndex*3 + i];
+}
+
+// Return true if the mesh has normals
+inline bool Mesh::hasNormals() const {
+    return mNormals.size() == mVertices.size();
+}
+
+// Return true if the mesh has tangents
+inline bool Mesh::hasTangents() const {
+    return mTangents.size() == mVertices.size();
+}
+
+// Return true if the mesh has vertex colors
+inline bool Mesh::hasColors() const {
+    return mColors.size() == mVertices.size();
+}
+
+// Return true if the mesh has UV texture coordinates
+inline bool Mesh::hasUVTextureCoordinates() const {
+    return mUVs.size() == mVertices.size();
+}
+
+// Return true if the mesh has a texture for a given part of the mesh and if it
+// also have texture coordinates
+inline bool Mesh::hasTextureForPart(uint part) const {
+    return hasUVTextureCoordinates() && mTextures.count(part);
+}
+
+// Return true if the mesh has a texture (and texture coordinates) for at least one
+// part of the mesh
+inline bool Mesh::hasTexture() const {
+    return hasUVTextureCoordinates() && (mTextures.size() > 0);
+}
+
+// Return a pointer to the vertices data
+inline void* Mesh::getVerticesPointer() {
+    return &(mVertices[0]);
+}
+
+// Return a pointer to the normals data
+inline void* Mesh::getNormalsPointer() {
+    return &(mNormals[0]);
+}
+
+// Return a pointer to the colors data
+inline void* Mesh::getColorsPointer() {
+    return &(mColors[0]);
+}
+
+// Return a pointer to the tangents data
+inline void* Mesh::getTangentsPointer() {
+    return &(mTangents[0]);
+}
+
+// Return a pointer to the UV texture coordinates data
+inline void* Mesh::getUVTextureCoordinatesPointer() {
+    return &(mUVs[0]);
+}
+
+// Return a pointer to the vertex indicies data
+inline void* Mesh::getIndicesPointer(uint part) {
+    return &(mIndices[part])[0];
+}
+
+// Return a reference to a texture of the mesh
+inline Texture2D& Mesh::getTexture(uint part) {
+    return mTextures[part];
+}
+
+// Set a texture to a part of the mesh
+inline void Mesh::setTexture(Texture2D& texture, uint part) {
+    mTextures[part] = texture;
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/MeshReaderWriter.cpp

@@ -0,0 +1,393 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "MeshReaderWriter.h"
+#include <fstream>
+#include <sstream>
+#include <locale>
+#include <cctype>
+#include <map>
+#include <algorithm>
+
+using namespace openglframework;
+using namespace std;
+
+// Constructor
+MeshReaderWriter::MeshReaderWriter() {
+
+}
+
+// Load a mesh from a file and returns true if the mesh has been sucessfully loaded
+void MeshReaderWriter::loadMeshFromFile(const std::string& filename, Mesh& meshToCreate) {
+
+    // Get the extension of the file
+    uint startPosExtension = filename.find_last_of(".");
+    string extension = filename.substr(startPosExtension+1);
+
+    // Load the file using the correct method
+    if (extension == "obj") {
+        loadOBJFile(filename, meshToCreate);
+    }
+    else {
+
+        // Display an error message and throw an exception
+        string errorMessage("Error : the MeshReaderWriter class cannot load a file with the extension .");
+        errorMessage += extension;
+        std::cerr << errorMessage << std::endl;
+        throw std::invalid_argument(errorMessage.c_str());
+    }
+}
+
+// Write a mesh to a file
+void MeshReaderWriter::writeMeshToFile(const std::string& filename, const Mesh& meshToWrite) {
+
+    // Get the extension of the file
+    uint startPosExtension = filename.find_last_of(".");
+    string extension = filename.substr(startPosExtension+1);
+
+    // Load the file using the correct method
+    if (extension == "obj") {
+        writeOBJFile(filename, meshToWrite);
+    }
+    else {
+
+        // Display an error message and throw an exception
+        string errorMessage("Error : the MeshReaderWriter class cannot store a mesh file with the extension .");
+        errorMessage += extension;
+        std::cerr << errorMessage << std::endl;
+        throw std::invalid_argument(errorMessage.c_str());
+    }
+}
+
+// Load an OBJ file with a triangular or quad mesh
+void MeshReaderWriter::loadOBJFile(const string &filename, Mesh& meshToCreate) {
+
+    // Open the file
+    std::ifstream meshFile(filename.c_str());
+
+    // If we cannot open the file
+    if(!meshFile.is_open()) {
+
+        // Throw an exception and display an error message
+        string errorMessage("Error : Cannot open the file " + filename);
+        std::cerr << errorMessage << std::endl;
+        throw runtime_error(errorMessage);
+    }
+
+    std::string buffer;
+    string line, tmp;
+    int id1, id2, id3, id4;
+    int nId1, nId2, nId3, nId4;
+    int tId1, tId2, tId3, tId4;
+    float v1, v2, v3;
+    size_t found1, found2;
+    std::vector<bool> isQuad;
+    std::vector<Vector3> vertices;
+    std::vector<Vector3> normals;
+    std::vector<Vector2> uvs;
+    std::vector<uint> verticesIndices;
+    std::vector<uint> normalsIndices;
+    std::vector<uint> uvsIndices;
+
+    // ---------- Collect the data from the file ---------- //
+
+    // For each line of the file
+    while(std::getline(meshFile, buffer)) {
+
+        std::istringstream lineStream(buffer);
+        std::string word;
+        lineStream >> word;
+        std::transform(word.begin(), word.end(), word.begin(), ::tolower);
+        if(word == "usemtl") {  // Material definition
+
+            // Loading of MTL file is not implemented
+
+        }
+        else if(word == "v") {  // Vertex position
+            sscanf(buffer.c_str(), "%*s %f %f %f", &v1, &v2, &v3);
+            vertices.push_back(Vector3(v1, v2, v3));
+        }
+        else if(word == "vt") { // Vertex texture coordinate
+            sscanf(buffer.c_str(), "%*s %f %f", &v1, &v2);
+            uvs.push_back(Vector2(v1,v2));
+        }
+        else if(word == "vn") { // Vertex normal
+            sscanf(buffer.c_str(), "%*s %f %f %f", &v1, &v2, &v3);
+            normals.push_back(Vector3(v1 ,v2, v3));
+        }
+        else if (word == "f") { // Face
+            line = buffer;
+            found1 = (int)line.find("/");
+            bool isFaceQuad = false;
+            int foundNext = (int)line.substr(found1+1).find("/");
+
+            // If the face definition is of the form "f v1 v2 v3 v4"
+            if(found1 == string::npos) {
+                int nbVertices = sscanf(buffer.c_str(), "%*s %d %d %d %d", &id1, &id2, &id3, &id4);
+                if (nbVertices == 4) isFaceQuad = true;
+            }
+            // If the face definition is of the form "f v1// v2// v3// v4//"
+            else if (foundNext == 0) {
+                int nbVertices = sscanf(buffer.c_str(), "%*s %d// %d// %d// %d//", &id1, &id2, &id3, &id4);
+                if (nbVertices == 4) isFaceQuad = true;
+            }
+            else {  // If the face definition contains vertices and texture coordinates
+
+                //get the part of the string until the second index
+                tmp = line.substr(found1+1);
+                found2 = (int)tmp.find(" ");
+                tmp = tmp.substr(0,found2);
+                found2 = (int)tmp.find("/");
+
+                // If the face definition is of the form "f vert1/textcoord1 vert2/textcoord2 ..."
+                if(found2 == string::npos) {
+                    int n = sscanf(buffer.c_str(), "%*s %d/%d %d/%d %d/%d %d/%d", &id1, &tId1, &id2, &tId2, &id3, &tId3, &id4, &tId4);
+                    if (n == 8) isFaceQuad = true;
+                    uvsIndices.push_back(tId1-1);
+                    uvsIndices.push_back(tId2-1);
+                    uvsIndices.push_back(tId3-1);
+                    if (isFaceQuad) uvsIndices.push_back(tId4-1);
+                }
+                else {
+                    tmp = line.substr(found1+1);
+                    found2 = (int)tmp.find("/");
+
+                    // If the face definition is of the form "f vert1/normal1 vert2/normal2 ..."
+                    if(found2 == 0) {
+                        int n = sscanf(buffer.c_str(), "%*s %d//%d %d//%d %d//%d %d//%d", &id1, &nId1, &id2, &nId2, &id3, &nId3, &id4, &nId4);
+                        if (n == 8) isFaceQuad = true;
+                    }
+                    // If the face definition is of the form "f vert1/textcoord1/normal1 ..."
+                    else {
+                        int n = sscanf(buffer.c_str(), "%*s %d/%d/%d %d/%d/%d %d/%d/%d %d/%d/%d", &id1, &tId1, &nId1, &id2, &tId2, &nId2, &id3, &tId3, &nId3, &id4, &tId4, &nId4);
+                        if (n == 12) isFaceQuad = true;
+                        uvsIndices.push_back(tId1-1);
+                        uvsIndices.push_back(tId2-1);
+                        uvsIndices.push_back(tId3-1);
+                        if (isFaceQuad) uvsIndices.push_back(tId4-1);
+                    }
+                    normalsIndices.push_back(nId1-1);
+                    normalsIndices.push_back(nId2-1);
+                    normalsIndices.push_back(nId3-1);
+                    if (isFaceQuad) normalsIndices.push_back(nId4-1);
+                }
+            }
+            verticesIndices.push_back(id1-1);
+            verticesIndices.push_back(id2-1);
+            verticesIndices.push_back(id3-1);
+            if (isFaceQuad) verticesIndices.push_back((id4-1));
+            isQuad.push_back(isFaceQuad);
+        }
+    }
+
+    assert(!verticesIndices.empty());
+    assert(normalsIndices.empty() || normalsIndices.size() == verticesIndices.size());
+    assert(uvsIndices.empty() || uvsIndices.size() == verticesIndices.size());
+    meshFile.close();
+
+    // ---------- Merge the data that we have collected from the file ---------- //
+
+    // Destroy the current mesh
+    meshToCreate.destroy();
+
+    // Mesh data
+    vector<std::vector<uint> > meshIndices;
+    vector<Vector3> meshNormals;
+    if (!normals.empty()) meshNormals = vector<Vector3>(vertices.size(), Vector3(0, 0, 0));
+    vector<Vector2> meshUVs;
+    if (!uvs.empty()) meshUVs = vector<Vector2>(vertices.size(), Vector2(0, 0));
+
+    // We cannot load mesh with several parts for the moment
+    uint meshPart = 0;
+
+    // Fill in the vertex indices
+    // We also triangulate each quad face
+    meshIndices.push_back(std::vector<uint>());
+    for(size_t i = 0, j = 0; i < verticesIndices.size(); j++) {
+
+        // Get the current vertex IDs
+        uint i1 = verticesIndices[i];
+        uint i2 = verticesIndices[i+1];
+        uint i3 = verticesIndices[i+2];
+
+        // Add the vertex normal
+        if (!normalsIndices.empty() && !normals.empty()) {
+            meshNormals[i1] = normals[normalsIndices[i]];
+            meshNormals[i2] = normals[normalsIndices[i+1]];
+            meshNormals[i3] = normals[normalsIndices[i+2]];
+        }
+
+        // Add the vertex UV texture coordinates
+        if (!uvsIndices.empty() && !uvs.empty()) {
+            meshUVs[i1] = uvs[uvsIndices[i]];
+            meshUVs[i2] = uvs[uvsIndices[i+1]];
+            meshUVs[i3] = uvs[uvsIndices[i+2]];
+        }
+
+        // If the current vertex not in a quad (it is part of a triangle)
+        if (!isQuad[j]) {
+
+            // Add the vertex indices
+            meshIndices[meshPart].push_back(i1);
+            meshIndices[meshPart].push_back(i2);
+            meshIndices[meshPart].push_back(i3);
+
+            i+=3;
+        }
+        else {  // If the current vertex is in a quad
+
+            Vector3 v1 = vertices[i1];
+            Vector3 v2 = vertices[i2];
+            Vector3 v3 = vertices[i3];
+            uint i4 = verticesIndices[i+3];
+            Vector3 v4 = vertices[i4];
+
+            Vector3 v13 = v3-v1;
+            Vector3 v12 = v2-v1;
+            Vector3 v14 = v4-v1;
+
+            float a1 = v13.dot(v12);
+            float a2 = v13.dot(v14);
+            if((a1 >= 0 && a2 <= 0) || (a1 <= 0 && a2 >= 0)) {
+                meshIndices[meshPart].push_back(i1);
+                meshIndices[meshPart].push_back(i2);
+                meshIndices[meshPart].push_back(i3);
+                meshIndices[meshPart].push_back(i1);
+                meshIndices[meshPart].push_back(i3);
+                meshIndices[meshPart].push_back(i4);
+            }
+            else {
+                meshIndices[meshPart].push_back(i1);
+                meshIndices[meshPart].push_back(i2);
+                meshIndices[meshPart].push_back(i4);
+                meshIndices[meshPart].push_back(i2);
+                meshIndices[meshPart].push_back(i3);
+                meshIndices[meshPart].push_back(i4);
+            }
+
+            // Add the vertex normal
+            if (!normalsIndices.empty() && !normals.empty()) {
+                meshNormals[i4] = normals[normalsIndices[i]];
+            }
+
+            // Add the vertex UV texture coordinates
+            if (!uvsIndices.empty() && !uvs.empty()) {
+                meshUVs[i4] = uvs[uvsIndices[i]];
+            }
+
+            i+=4;
+        }
+    }
+
+    assert(meshNormals.empty() || meshNormals.size() == vertices.size());
+    assert(meshUVs.empty() || meshUVs.size() == vertices.size());
+
+    // Set the data to the mesh
+    meshToCreate.setIndices(meshIndices);
+    meshToCreate.setVertices(vertices);
+    meshToCreate.setNormals(meshNormals);
+    meshToCreate.setUVs(meshUVs);
+}
+
+// Store a mesh into a OBJ file
+void MeshReaderWriter::writeOBJFile(const std::string& filename, const Mesh& meshToWrite) {
+    std::ofstream file(filename.c_str());
+
+    // Geth the mesh data
+    const std::vector<Vector3>& vertices = meshToWrite.getVertices();
+    const std::vector<Vector3>& normals = meshToWrite.getNormals();
+    const std::vector<Vector2>& uvs = meshToWrite.getUVs();
+
+    // If we can open the file
+    if (file.is_open()) {
+
+        assert(meshToWrite.getNbVertices() == vertices.size());
+
+        // Write the vertices
+        for (uint v=0; v<vertices.size(); v++) {
+
+            file << "v " << vertices[v].x << " " << vertices[v].y << " " << vertices[v].z <<
+                    std::endl;
+        }
+
+        // Write the normals
+        if (meshToWrite.hasNormals()) {
+            file << std::endl;
+
+            assert(meshToWrite.getNbVertices() == normals.size());
+
+            for (uint v=0; v<normals.size(); v++) {
+
+                file << "vn " << normals[v].x << " " << normals[v].y << " " << normals[v].z <<
+                        std::endl;
+            }
+        }
+
+        // Write the UVs texture coordinates
+        if (meshToWrite.hasUVTextureCoordinates()) {
+            file << std::endl;
+
+            assert(meshToWrite.getNbVertices() == uvs.size());
+
+            for (uint v=0; v<uvs.size(); v++) {
+
+                file << "vt " << uvs[v].x << " " << uvs[v].y << std::endl;
+            }
+        }
+
+        // Write the faces
+        file << std::endl;
+        for (uint p=0; p<meshToWrite.getNbParts(); p++) {
+
+            // Get the indices of the part
+            const std::vector<uint>& indices = meshToWrite.getIndices(p);
+
+            // For each index of the part
+            for (uint i=0; i<indices.size(); i+=3) {
+
+                if (meshToWrite.hasNormals() && meshToWrite.hasUVTextureCoordinates()) {
+                    file << "f " <<indices[i]+1 << "/" << indices[i]+1 << "/" << indices[i]+1 <<
+                            " " << indices[i+1]+1 << "/" << indices[i+1]+1 << "/" << indices[i+1]+1 <<
+                            " " << indices[i+2]+1 << "/" << indices[i+2]+1 << "/" << indices[i+2]+1 <<
+                            std::endl;
+                }
+                else if (meshToWrite.hasNormals() || meshToWrite.hasUVTextureCoordinates()) {
+                    file << "f " <<indices[i]+1 << "/" << indices[i]+1 <<
+                            " " << indices[i+1]+1 << "/" << indices[i+1]+1 <<
+                            " " << indices[i+2]+1 << "/" << indices[i+2]+1 << std::endl;
+                }
+                else {
+                    file << "f " << indices[i]+1 << " " << indices[i+1]+1 << " " << indices[i+2]+1 <<
+                            std::endl;
+                }
+            }
+        }
+    }
+    else {
+        std::cerr << "Error : Cannot open the file " << filename << std::endl;
+        exit(1);
+    }
+}

examples/common/opengl-framework/src/MeshReaderWriter.h

@@ -0,0 +1,96 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 MESH_LOADER_H
+#define MESH_LOADER_H
+
+// Libraries
+#include <string>
+#include <stdexcept>
+#include "Mesh.h"
+
+namespace openglframework {
+
+// Class MeshReaderWriter
+// This class is used to read or write any mesh file in order to
+// create the corresponding Mesh object. Currently, this class
+// is able to read meshes of the current formats : .obj
+class MeshReaderWriter {
+
+    private :
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor (private because we do not want instances of this class)
+        MeshReaderWriter();
+
+        // Load an OBJ file with a triangular or quad mesh
+        static void loadOBJFile(const std::string& filename, Mesh& meshToCreate);
+
+        // Store a mesh into a OBJ file
+        static void writeOBJFile(const std::string& filename, const Mesh &meshToWrite);
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        // Read a mesh from a file
+        static void loadMeshFromFile(const std::string& filename, Mesh& meshToCreate);
+
+        // Write a mesh to a file
+        static void writeMeshToFile(const std::string& filename, const Mesh& meshToWrite);
+};
+
+// Class VertexMergingData
+// This class is used in the method to read a mesh
+class VertexMergingData {
+
+    public:
+        VertexMergingData() : indexPosition(0), indexNormal(0), indexUV(0) {}
+        unsigned int indexPosition;
+        unsigned int indexNormal;
+        unsigned int indexUV;
+};
+
+// Class VertexMergingDataComparison
+// This class is used in the method to read a mesh
+class VertexMergingDataComparison {
+
+    public:
+        bool operator()(const VertexMergingData& x, const VertexMergingData& y) const {
+            if(x.indexPosition < y.indexPosition)
+                return true;
+            if(x.indexPosition == y.indexPosition && x.indexNormal < y.indexNormal)
+                return true;
+            if(x.indexPosition == y.indexPosition && x.indexNormal ==
+                                  y.indexNormal && x.indexUV < y.indexUV)
+                return true;
+            return false;
+    }
+};
+
+}
+
+#endif

examples/common/opengl-framework/src/Object3D.cpp

@@ -0,0 +1,41 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Object3D.h"
+
+// Namespaces
+using namespace openglframework;
+
+// Constructor
+Object3D::Object3D() {
+    // Set the transformation matrix to the identity
+    setToIdentity();
+}
+
+// Destructor
+Object3D::~Object3D() {
+
+}

examples/common/opengl-framework/src/Object3D.h

@@ -0,0 +1,149 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 OBJECT3D_H
+#define OBJECT3D_H
+
+// Libraries
+#include "maths/Vector3.h"
+#include "maths/Matrix4.h"
+
+namespace openglframework {
+
+// Class Object3D
+// This class represent a generic 3D object on the scene.
+class Object3D {
+
+    protected:
+
+        // -------------------- Attributes -------------------- //
+
+        // Transformation matrix that convert local-space
+        // coordinates to world-space coordinates
+        Matrix4 mTransformMatrix;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Object3D();
+
+        // Destructor
+        virtual ~Object3D();
+
+        // Return the transform matrix
+        const Matrix4& getTransformMatrix() const;
+
+        // Set the transform matrix
+        void setTransformMatrix(const Matrix4& matrix);
+
+        // Set to the identity transform
+        void setToIdentity();
+
+        // Return the origin of object in world-space
+        Vector3 getOrigin() const;
+
+        // Translate the object in world-space
+        void translateWorld(const Vector3& v);
+
+        // Translate the object in local-space
+        void translateLocal(const Vector3& v);
+
+        // Rotate the object in world-space
+        void rotateWorld(const Vector3& axis, float angle);
+
+        // Rotate the object in local-space
+        void rotateLocal(const Vector3& axis, float angle);
+
+        // Rotate around a world-space point
+        void rotateAroundWorldPoint(const Vector3& axis, float angle, const Vector3& point);
+
+        // Rotate around a local-space point
+        void rotateAroundLocalPoint(const Vector3& axis, float angle, const Vector3& worldPoint);
+};
+
+// Return the transform matrix
+inline const Matrix4& Object3D::getTransformMatrix() const {
+    return mTransformMatrix;
+}
+
+// Set the transform matrix
+inline void Object3D::setTransformMatrix(const Matrix4& matrix) {
+    mTransformMatrix = matrix;
+}
+
+// Set to the identity transform
+inline void Object3D::setToIdentity() {
+    mTransformMatrix.setToIdentity();
+}
+
+ // Return the origin of object in world-space
+inline Vector3 Object3D::getOrigin() const {
+    return mTransformMatrix * Vector3(0.0, 0.0, 0.0);
+}
+
+// Translate the object in world-space
+inline void Object3D::translateWorld(const Vector3& v) {
+    mTransformMatrix = Matrix4::translationMatrix(v) * mTransformMatrix;
+}
+
+// Translate the object in local-space
+inline void Object3D::translateLocal(const Vector3& v) {
+    mTransformMatrix = mTransformMatrix * Matrix4::translationMatrix(v);
+}
+
+// Rotate the object in world-space
+inline void Object3D::rotateWorld(const Vector3& axis, float angle) {
+    mTransformMatrix = Matrix4::rotationMatrix(axis, angle) * mTransformMatrix;
+}
+
+// Rotate the object in local-space
+inline void Object3D::rotateLocal(const Vector3& axis, float angle) {
+    mTransformMatrix = mTransformMatrix * Matrix4::rotationMatrix(axis, angle);
+}
+
+// Rotate the object around a world-space point
+inline void Object3D::rotateAroundWorldPoint(const Vector3& axis, float angle,
+                                             const Vector3& worldPoint) {
+    mTransformMatrix = Matrix4::translationMatrix(worldPoint) * Matrix4::rotationMatrix(axis, angle)
+                       * Matrix4::translationMatrix(-worldPoint) * mTransformMatrix;
+}
+
+// Rotate the object around a local-space point
+inline void Object3D::rotateAroundLocalPoint(const Vector3& axis, float angle,
+                                             const Vector3& worldPoint) {
+
+    // Convert the world point into the local coordinate system
+    Vector3 localPoint = mTransformMatrix.getInverse() * worldPoint;
+
+    mTransformMatrix = mTransformMatrix * Matrix4::translationMatrix(localPoint)
+                       * Matrix4::rotationMatrix(axis, angle)
+                       * Matrix4::translationMatrix(-localPoint);
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/Shader.cpp

@@ -0,0 +1,207 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Shader.h"
+#include <cassert>
+#include <fstream>
+#include <iostream>
+
+// Namespaces
+using namespace openglframework;
+using namespace std;
+
+// Constructor
+Shader::Shader() : mProgramObjectID(0) {
+
+}
+
+// Constructor with arguments
+Shader::Shader(const std::string vertexShaderFilename, const std::string fragmentShaderFilename)
+    : mProgramObjectID(0) {
+
+    // Create the shader
+    create(vertexShaderFilename, fragmentShaderFilename);
+}
+
+// Destructor
+Shader::~Shader() {
+
+}
+
+// Create the shader
+bool Shader::create(const std::string vertexShaderFilename,
+                    const std::string fragmentShaderFilename) {
+
+    // Set the shader filenames
+    mFilenameVertexShader = vertexShaderFilename;
+    mFilenameFragmentShader = fragmentShaderFilename;
+
+    // Check that the needed OpenGL extensions are available
+    bool isExtensionOK = checkOpenGLExtensions();
+    if (!isExtensionOK) {
+       cerr << "Error : Impossible to use GLSL vertex or fragment shaders on this platform" << endl;
+       assert(false);
+       return false;
+    }
+
+    // Delete the current shader
+    destroy();
+
+    assert(!vertexShaderFilename.empty() && !fragmentShaderFilename.empty());
+
+    // ------------------- Load the vertex shader ------------------- //
+    GLuint vertexShaderID;
+    std::ifstream fileVertexShader;
+    fileVertexShader.open(vertexShaderFilename.c_str(), std::ios::binary);
+
+    if (fileVertexShader.is_open()) {
+
+        // Get the size of the file
+        fileVertexShader.seekg(0, std::ios::end);
+        uint fileSize = (uint) (fileVertexShader.tellg());
+        assert(fileSize != 0);
+
+        // Read the file
+        fileVertexShader.seekg(std::ios::beg);
+        char* bufferVertexShader = new char[fileSize + 1];
+        fileVertexShader.read(bufferVertexShader, fileSize);
+        fileVertexShader.close();
+        bufferVertexShader[fileSize] = '\0';
+
+        // Create the OpenGL vertex shader and compile it
+        vertexShaderID = glCreateShader(GL_VERTEX_SHADER);
+        assert(vertexShaderID != 0);
+        glShaderSource(vertexShaderID, 1, (const char **) (&bufferVertexShader), NULL);
+        glCompileShader(vertexShaderID);
+        delete[] bufferVertexShader;
+
+        // Get the compilation information
+        int compiled;
+        glGetShaderiv(vertexShaderID, GL_COMPILE_STATUS, &compiled);
+
+        // If the compilation failed
+        if (compiled == 0) {
+
+            // Get the log of the compilation
+            int lengthLog;
+            glGetShaderiv(vertexShaderID, GL_INFO_LOG_LENGTH, &lengthLog);
+            char* str = new char[lengthLog];
+            glGetShaderInfoLog(vertexShaderID, lengthLog, NULL, str);
+
+            // Display the log of the compilation
+            std::cerr << "Vertex Shader Error : " << str << std::endl;
+            delete[] str;
+            assert(false);
+            return false;
+        }
+    }
+    else {
+        std::cerr << "Error : Impossible to open the vertex shader file " <<
+                     vertexShaderFilename << std::endl;
+        assert(false);
+        return false;
+    }
+
+    // ------------------- Load the fragment shader ------------------- //
+    GLuint fragmentShaderID;
+    std::ifstream fileFragmentShader;
+    fileFragmentShader.open(fragmentShaderFilename.c_str(), std::ios::binary);
+    assert(fileFragmentShader.is_open());
+
+    if (fileFragmentShader.is_open()) {
+
+        // Get the size of the file
+        fileFragmentShader.seekg(0, std::ios::end);
+        uint fileSize = (uint) (fileFragmentShader.tellg());
+        assert(fileSize != 0);
+
+        // Read the file
+        fileFragmentShader.seekg(std::ios::beg);
+        char* bufferFragmentShader = new char[fileSize + 1];
+        fileFragmentShader.read(bufferFragmentShader, fileSize);
+        fileFragmentShader.close();
+        bufferFragmentShader[fileSize] = '\0';
+
+        // Create the OpenGL fragment shader and compile it
+        fragmentShaderID = glCreateShader(GL_FRAGMENT_SHADER);
+        assert(fragmentShaderID != 0);
+        glShaderSource(fragmentShaderID, 1, (const char **) (&bufferFragmentShader), NULL);
+        glCompileShader(fragmentShaderID);
+        delete[] bufferFragmentShader;
+
+        // Get the compilation information
+        int compiled;
+        glGetShaderiv(fragmentShaderID, GL_COMPILE_STATUS, &compiled);
+
+        // If the compilation failed
+        if (compiled == 0) {
+
+            // Get the log of the compilation
+            int lengthLog;
+            glGetShaderiv(fragmentShaderID, GL_INFO_LOG_LENGTH, &lengthLog);
+            char* str = new char[lengthLog];
+            glGetShaderInfoLog(fragmentShaderID, lengthLog, NULL, str);
+
+            // Display the log of the compilation
+            std::cerr << "Fragment Shader Error : " << str << std::endl;
+            delete[] str;
+            assert(false);
+            return false;
+        }
+    }
+    else {
+        std::cerr << "Error : Impossible to open the fragment shader file " <<
+                     fragmentShaderFilename << std::endl;
+        assert(false);
+        return false;
+    }
+
+    // Create the shader program and attach the shaders
+    mProgramObjectID = glCreateProgram();
+    assert(mProgramObjectID);
+    glAttachShader(mProgramObjectID, vertexShaderID);
+    glAttachShader(mProgramObjectID, fragmentShaderID);
+    glDeleteShader(vertexShaderID);
+    glDeleteShader(fragmentShaderID);
+
+    // Try to link the program
+    glLinkProgram(mProgramObjectID);
+    int linked;
+    glGetProgramiv(mProgramObjectID, GL_LINK_STATUS, &linked);
+    if (!linked) {
+        int logLength;
+        glGetProgramiv(mProgramObjectID, GL_INFO_LOG_LENGTH, &logLength);
+        char* strLog = new char[logLength];
+        glGetProgramInfoLog(mProgramObjectID, logLength, NULL, strLog);
+        cerr << "Linker Error in vertex shader " << vertexShaderFilename <<
+                " or in fragment shader " << fragmentShaderFilename << " : " << strLog << endl;
+        delete[] strLog;
+        destroy();
+        assert(false);
+    }
+
+    return true;
+}

examples/common/opengl-framework/src/Shader.h

@@ -0,0 +1,262 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 SHADER_H
+#define SHADER_H
+
+// Libraries
+#include "definitions.h"
+#include "maths/Matrix4.h"
+#include "maths/Vector2.h"
+#include "maths/Vector3.h"
+#include "maths/Vector4.h"
+#include <string>
+#include <iostream>
+#include <GL/glew.h>
+
+namespace openglframework {
+
+// Class Shader
+class Shader {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        // Shader object program ID
+        GLuint mProgramObjectID;
+
+        // Filenames of the vertex and fragment shaders
+        std::string mFilenameVertexShader, mFilenameFragmentShader;
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Shader();
+
+        // Constructor with arguments
+        Shader(const std::string vertexShaderFilename, const std::string fragmentShaderFilename);
+
+        // Destructor
+        ~Shader();
+
+        // Create the shader
+        bool create(const std::string vertexShaderFilename,
+                    const std::string fragmentShaderFilename);
+
+        // Clear the shader
+        void destroy();
+
+        // Bind the shader
+        void bind() const;
+
+        // Unbind the shader
+        void unbind() const;
+
+        // Return the location of a uniform variable inside a shader program
+        int getUniformLocation(const std::string& variableName) const;
+
+        // Set a float uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setFloatUniform(const std::string& variableName, float value) const;
+
+        // Set an int uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setIntUniform(const std::string& variableName, int value) const;
+
+        // Set a vector 2 uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setVector2Uniform(const std::string& variableName, const Vector2& v) const;
+
+        // Set a vector 3 uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setVector3Uniform(const std::string& variableName, const Vector3& v) const;
+
+        // Set a vector 4 uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setVector4Uniform(const std::string& variableName, const Vector4 &v) const;
+
+        // Set a 3x3 matrix uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setMatrix3x3Uniform(const std::string& variableName, const float* matrix,
+                                 bool transpose = false) const;
+
+        // Set a 3x3 matrix uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setMatrix3x3Uniform(const std::string& variableName, const Matrix3& matrix) const;
+
+        // Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setMatrix4x4Uniform(const std::string& variableName, const float* matrix,
+                                 bool transpose = false) const;
+
+        // Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
+        // used in the shader, the compiler will remove it, then when you will try
+        // to set it, an assert will occur)
+        void setMatrix4x4Uniform(const std::string& variableName, const Matrix4& matrix) const;
+
+        // Return true if the needed OpenGL extensions are available
+        static bool checkOpenGLExtensions();
+};
+
+// Bind the shader
+inline void Shader::bind() const {
+    assert(mProgramObjectID != 0);
+    glUseProgram(mProgramObjectID);
+}
+
+// Unbind the shader
+inline void Shader::unbind() const {
+    assert(mProgramObjectID != 0);
+    glUseProgram(0);
+}
+
+// Return the location of a uniform variable inside a shader program
+inline int Shader::getUniformLocation(const std::string& variableName) const {
+    assert(mProgramObjectID != 0);
+    int location = glGetUniformLocation(mProgramObjectID, variableName.c_str());
+    if (location == -1) {
+        std::cerr << "Error in vertex shader " << mFilenameVertexShader << " or in fragment shader"
+                  << mFilenameFragmentShader << " : No Uniform variable : " << variableName
+                  << std::endl;
+    }
+    assert(location != -1);
+    return location;
+}
+
+// Clear the shader
+inline void Shader::destroy() {
+    if (mProgramObjectID != 0) {
+        glDeleteShader(mProgramObjectID);
+        mProgramObjectID = 0;
+    }
+}
+
+// Set a float uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setFloatUniform(const std::string& variableName, float value) const {
+    assert(mProgramObjectID != 0);
+    glUniform1f(getUniformLocation(variableName), value);
+}
+
+// Set an int uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setIntUniform(const std::string& variableName, int value) const {
+    assert(mProgramObjectID != 0);
+    glUniform1i(getUniformLocation(variableName), value);
+}
+
+// Set a vector 2 uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setVector2Uniform(const std::string& variableName, const Vector2& v) const {
+    assert(mProgramObjectID != 0);
+    glUniform2f(getUniformLocation(variableName), v.x, v.y);
+}
+
+// Set a vector 3 uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setVector3Uniform(const std::string& variableName, const Vector3 &v) const {
+    assert(mProgramObjectID != 0);
+    glUniform3f(getUniformLocation(variableName), v.x, v.y, v.z);
+}
+
+// Set a vector 4 uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setVector4Uniform(const std::string& variableName, const Vector4& v) const {
+    assert(mProgramObjectID != 0);
+    glUniform4f(getUniformLocation(variableName), v.x, v.y, v.z, v.w);
+}
+
+// Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setMatrix3x3Uniform(const std::string& variableName, const float* matrix,
+                                        bool transpose) const {
+    assert(mProgramObjectID != 0);
+    glUniformMatrix3fv(getUniformLocation(variableName), 1, transpose, matrix);
+}
+
+// Set a 3x3 matrix uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setMatrix3x3Uniform(const std::string& variableName, const Matrix3& matrix) const {
+    assert(mProgramObjectID != 0);
+    GLfloat mat[9];
+    for (int i=0; i<3; i++) {
+        for (int j=0; j<3; j++) {
+            mat[i*3 + j] = matrix.getValue(i, j);
+        }
+    }
+    glUniformMatrix3fv(getUniformLocation(variableName), 1, true, mat);
+}
+
+// Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setMatrix4x4Uniform(const std::string& variableName, const float* matrix,
+                                        bool transpose) const {
+    assert(mProgramObjectID != 0);
+    glUniformMatrix4fv(getUniformLocation(variableName), 1, transpose, matrix);
+}
+
+// Set a 4x4 matrix uniform value to this shader (be careful if the uniform is not
+// used in the shader, the compiler will remove it, then when you will try
+// to set it, an assert will occur)
+inline void Shader::setMatrix4x4Uniform(const std::string& variableName, const Matrix4& matrix) const {
+    assert(mProgramObjectID != 0);
+    GLfloat mat[16];
+    for (int i=0; i<4; i++) {
+        for (int j=0; j<4; j++) {
+            mat[i*4 + j] = matrix.m[i][j];
+        }
+    }
+    glUniformMatrix4fv(getUniformLocation(variableName), 1, true, mat);
+}
+
+// Return true if the needed OpenGL extensions are available for shaders
+inline bool Shader::checkOpenGLExtensions() {
+
+    // Check that GLSL vertex and fragment shaders are available on the platform
+    return (GLEW_VERSION_2_0 || (GLEW_ARB_vertex_shader && GLEW_ARB_fragment_shader));
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/Texture2D.cpp

@@ -0,0 +1,84 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "Texture2D.h"
+#include <fstream>
+#include <iostream>
+#include <string>
+
+// Namespaces
+using namespace openglframework;
+
+// Constructor
+Texture2D::Texture2D() : mID(0), mLayer(0), mWidth(0), mHeight(0) {
+
+}
+
+// Constructor
+Texture2D::Texture2D(uint width, uint height, uint internalFormat, uint format, uint type)
+          : mID(0), mLayer(0), mWidth(0), mHeight(0){
+
+    // Create the texture
+    create(width, height, internalFormat, format, type);
+}
+
+// Destructor
+Texture2D::~Texture2D() {
+
+}
+
+// Create the texture
+void Texture2D::create(uint width, uint height, uint internalFormat, uint format, uint type,
+            void* data) {
+
+    // Destroy the current texture
+    destroy();
+
+    mWidth = width;
+    mHeight = height;
+
+    // Create the OpenGL texture
+    glGenTextures(1, &mID);
+    assert(mID != 0);
+    glBindTexture(GL_TEXTURE_2D, mID);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+    glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, mWidth, mHeight, 0, format, type, data);
+    glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+// Destroy the texture
+void Texture2D::destroy() {
+    if (mID != 0) {
+        glDeleteTextures(1, &mID);
+        mID = 0;
+        mLayer = 0;
+        mWidth = 0;
+        mHeight = 0;
+    }
+}

examples/common/opengl-framework/src/Texture2D.h

@@ -0,0 +1,142 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 TEXTURE2D_H
+#define TEXTURE2D_H
+
+// Libraries
+#include <string>
+#include <cassert>
+#include "definitions.h"
+#include <GL/glew.h>
+
+namespace openglframework {
+
+// Class Texture2D
+// This class represents a 2D texture
+class Texture2D {
+
+    private:
+
+        // -------------------- Attributes -------------------- //
+
+        // OpenGL texture ID
+        GLuint mID;
+
+        // Layer of the texture
+        GLuint mLayer;
+
+        // Width
+        uint mWidth;
+
+        // Height
+        uint mHeight;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Texture2D();
+
+        // Constructor
+        Texture2D(uint width, uint height, uint internalFormat, uint format, uint type);
+
+        // Destructor
+        ~Texture2D();
+
+        // Create the texture
+        void create(uint width, uint height, uint internalFormat, uint format, uint type,
+                    void* data = NULL);
+
+        // Destroy the texture
+        void destroy();
+
+        // Bind the texture
+        void bind() const;
+
+        // Unbind the texture
+        void unbind() const;
+
+        // Get the OpenGL texture ID
+        uint getID() const;
+
+        // Get the layer of the texture
+        uint getLayer() const;
+
+        // Set the layer of the texture
+        void setLayer(uint layer);
+
+        // Get the width
+        uint getWidth() const;
+
+        // Get the height
+        uint getHeight() const;
+};
+
+// Bind the texture
+inline void Texture2D::bind() const {
+    assert(mID != 0);
+    glEnable(GL_TEXTURE_2D);
+    glActiveTexture(GL_TEXTURE0 + mLayer);
+    glBindTexture(GL_TEXTURE_2D, mID);
+}
+
+// Unbind the texture
+inline void Texture2D::unbind() const {
+    assert(mID != 0);
+    glActiveTexture(GL_TEXTURE0 + mLayer);
+    glBindTexture(GL_TEXTURE_2D, 0);
+    glDisable(GL_TEXTURE_2D);
+}
+
+// Get the OpenGL texture ID
+inline uint Texture2D::getID() const {
+    return mID;
+}
+
+// Get the layer of the texture
+inline uint Texture2D::getLayer() const {
+    return mLayer;
+}
+
+// Set the layer of the texture
+inline void Texture2D::setLayer(uint layer) {
+    mLayer = layer;
+}
+
+// Get the width
+inline uint Texture2D::getWidth() const {
+    return mWidth;
+}
+
+// Get the height
+inline uint Texture2D::getHeight() const {
+    return mHeight;
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/TextureReaderWriter.cpp

@@ -0,0 +1,332 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Librairies
+#include "TextureReaderWriter.h"
+#include <string>
+#ifdef USE_JPEG_TEXTURE
+    #include <jpeglib.h>
+    #include <jerror.h>
+#endif
+
+using namespace openglframework;
+using namespace std;
+
+// Constants
+const uint TextureReaderWriter::JPEG_COMPRESSION_QUALITY = 98;
+
+// TGA file Header
+#pragma pack(push, 1)
+typedef struct {
+    unsigned char  identsize;           // size of ID field that follows 18 byte header (0 usually)
+    unsigned char  colourmaptype;       // type of colour map 0=none, 1=has palette
+    unsigned char  imagetype;           // type of image 0=none,1=indexed,2=rgb,3=grey,+8=rle packed
+
+    short colourmapstart;               // first colour map entry in palette
+    short colourmaplength;              // number of colours in palette
+    unsigned char  colourmapbits;       // number of bits per palette entry 15,16,24,32
+
+    short xstart;                       // image x origin
+    short ystart;                       // image y origin
+    short width;                        // image width in pixels
+    short height;                       // image height in pixels
+    unsigned char  bits;                // image bits per pixel 8,16,24,32
+    unsigned char  descriptor;          // image descriptor bits (vh flip bits)
+
+    // pixel data follows header
+} TGA_HEADER;
+#pragma pack(pop)
+
+// Load a texture from a file
+void TextureReaderWriter::loadTextureFromFile(const std::string& filename,
+                                              Texture2D& textureToCreate) {
+
+    // Get the extension of the file
+    uint startPosExtension = filename.find_last_of(".");
+    string extension = filename.substr(startPosExtension+1);
+
+    // Load the file using the correct method
+    if (extension == "tga") {
+        readTGAPicture(filename, textureToCreate);
+    }
+#ifdef USE_JPEG_TEXTURE
+    else if (extension == "jpg" || extension == "jpeg"){
+        readJPEGPicture(filename, textureToCreate);
+    }
+#endif
+    else {
+
+        // Display an error message and throw an exception
+        string errorMessage("Error : the TextureLoader class cannot load a file with the extension .");
+        errorMessage += extension;
+        std::cerr << errorMessage << std::endl;
+        throw std::invalid_argument(errorMessage.c_str());
+    }
+}
+
+// Write a texture to a file
+void TextureReaderWriter::writeTextureToFile(const std::string& filename,const Texture2D& texture) {
+
+    // Get the extension of the file
+    uint startPosExtension = filename.find_last_of(".");
+    string extension = filename.substr(startPosExtension+1);
+
+    // Write the file using the correct method
+    if (extension == "tga") {
+        writeTGAPicture(filename, texture);
+    }
+#ifdef USE_JPEG_TEXTURE
+    else if (extension == "jpg" || extension == "jpeg"){
+        writeJPEGPicture(filename, texture);
+    }
+#endif
+    else {
+
+        // Display an error message and throw an exception
+        string errorMessage("Error : the TextureReaderWriter class cannot write a file with the extension .");
+        errorMessage += extension;
+        std::cerr << errorMessage << std::endl;
+        throw std::invalid_argument(errorMessage.c_str());
+    }
+}
+
+// Load a TGA picture
+void TextureReaderWriter::readTGAPicture(const std::string &filename, Texture2D& textureToCreate) {
+
+    // Open the file
+    std::ifstream stream(filename.c_str(), std::ios::binary);
+
+    // If we cannot open the file
+    if(!stream.is_open()) {
+
+        // Throw an exception and display an error message
+        string errorMessage("Error : Cannot open the file " + filename);
+        std::cerr << errorMessage << std::endl;
+        throw std::runtime_error(errorMessage);
+    }
+
+    TGA_HEADER header;
+    stream.read((char *)(&header), sizeof(TGA_HEADER));
+    assert(header.width <= 4096 && header.width <= 4096 &&
+           header.imagetype == 2 && header.bits == 24);
+
+    // Read the file
+    uint width = header.width;
+    uint height = header.width;
+    uint sizeImg = width*height;
+    char* data = new char[sizeImg*3];
+    assert(data);
+    stream.read(data, sizeImg*3);
+    for(uint i = 0; i < sizeImg; i++) {
+        unsigned pos = i*3;
+        unsigned char red = data[pos];
+        data[pos] = data[pos + 2];
+        data[pos + 2] = red;
+    }
+
+    // Close the stream
+    stream.close();
+
+    // Create the OpenGL texture using the picture data from the file
+    textureToCreate.create(width, height, GL_RGB, GL_RGB, GL_UNSIGNED_BYTE, data);
+
+    // Free the data memory
+    delete[] data;
+}
+
+
+// Write a TGA picture
+void TextureReaderWriter::writeTGAPicture(const std::string& filename, const Texture2D& texture) {
+    assert(texture.getID() != 0);
+
+    // Bind the corresponding texture
+    glBindTexture(GL_TEXTURE_2D, texture.getID());
+
+    uint sizeImg = texture.getWidth() * texture.getHeight();
+
+    // Get the bytes form the OpenGL texture
+    char* data = new char[sizeImg * 3];
+    glGetTexImage(GL_TEXTURE_2D, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
+
+    // Open the file
+    std::ofstream stream(filename.c_str(), std::ios::binary);
+
+    // If the file cannot be opened
+    if(!stream.is_open()) {
+
+        // Throw an exception and display an error message
+        string errorMessage("Error : Cannot create/access the file " + filename);
+        std::cerr << errorMessage << std::endl;
+        delete[] data;
+        throw std::runtime_error(errorMessage);
+    }
+
+    // Fill in the TGA header
+    TGA_HEADER header;
+    header.identsize = 0;           // size of ID field that follows 18 byte header (0 usually)
+    header.colourmaptype = 0;       // type of colour map 0=none, 1=has palette
+    header.imagetype = 2;           // type of image 0=none,1=indexed,2=rgb,3=grey,+8=rle packed
+    header.colourmapstart = 0;                  // first colour map entry in palette
+    header.colourmaplength = 0;                 // number of colours in palette
+    header.colourmapbits=0;                     // number of bits per palette entry 15,16,24,32
+    header.xstart = 0;                          // image x origin
+    header.ystart = 0;                          // image y origin
+    header.width = (short)texture.getWidth();   // image width in pixels
+    header.height = (short)texture.getHeight(); // image height in pixels
+    header.bits = 24;                           // image bits per pixel 8,16,24,32
+    header.descriptor = 0;                      // image descriptor bits (vh flip bits)
+
+    // Write the header to the file
+    stream.write((char*)(&header), sizeof(TGA_HEADER));
+
+    // Write the bytes to the file
+    for(uint i = 0; i < sizeImg; i++) {
+        unsigned pos = i*3;
+        unsigned char red = data[pos];
+        data[pos] = data[pos + 2];
+        data[pos + 2] = red;
+    }
+    stream.write(data, sizeImg*3);
+
+    // Close the file
+    stream.close();
+
+    // Delete the data
+    delete[] data;
+
+    // Unbind the corresponding texture
+    glBindTexture(GL_TEXTURE_2D, 0);
+}
+
+#ifdef USE_JPEG_TEXTURE
+
+// Read a JPEG picture
+void TextureReaderWriter::readJPEGPicture(const std::string& filename, Texture2D& textureToCreate) {
+
+    struct jpeg_decompress_struct info;
+    struct jpeg_error_mgr error;
+
+    info.err = jpeg_std_error(&error);
+    jpeg_create_decompress(&info);
+
+    // Open the file
+    FILE* file = fopen(filename.c_str(), "rb");
+
+    // If we cannot open the file
+    if (!file) {
+
+        // Throw an exception and display an error message
+        string errorMessage("Error : Cannot open the file " + filename);
+        std::cerr << errorMessage << std::endl;
+        throw std::runtime_error(errorMessage);
+    }
+
+    jpeg_stdio_src(&info, file);
+    jpeg_read_header(&info, true);
+    jpeg_start_decompress(&info);
+
+    unsigned long x = info.output_width;
+    unsigned long y = info.output_height;
+    int channels = info.num_components;
+    assert(channels == 3);
+
+    unsigned long size = x * y * 3;
+
+    BYTE* data = new BYTE[size];
+
+    BYTE* p1 = data;
+    BYTE** p2 = &p1;
+    int numlines = 0;
+
+    while(info.output_scanline < info.output_height) {
+        numlines = jpeg_read_scanlines(&info, p2, 1);
+        *p2 += numlines * 3 * info.output_width;
+    }
+
+    jpeg_finish_decompress(&info);   //finish decompressing this file
+
+    // Close the file
+    fclose(file);
+
+    // Create the OpenGL texture
+    textureToCreate.create(x, y, GL_RGB, GL_RGB, GL_UNSIGNED_BYTE, data);
+
+    // Free allocated memory
+    delete[] data;
+}
+
+// Write a JPEG picture
+void TextureReaderWriter::writeJPEGPicture(const std::string& filename, const Texture2D& texture) {
+
+    struct jpeg_compress_struct info;
+    struct jpeg_error_mgr error;
+
+    info.err = jpeg_std_error(&error);
+    jpeg_create_compress(&info);
+
+    // Open the file
+    FILE* file = fopen(filename.c_str(), "wb");
+
+    if (!file) {
+        // Throw an exception and display an error message
+        string errorMessage("Error : Cannot write JPEG picture into the file " + filename);
+        std::cerr << errorMessage << std::endl;
+        throw std::runtime_error(errorMessage);
+    }
+
+    // Get the bytes form the OpenGL texture
+    char* data = new char[texture.getWidth() * texture.getHeight() * 3];
+    glGetTexImage(GL_TEXTURE_2D, 0, GL_RGB, GL_UNSIGNED_BYTE, data);
+
+    jpeg_stdio_dest(&info, file);
+
+    info.image_width = texture.getWidth();
+    info.image_height = texture.getHeight();
+    info.input_components = 3;
+    info.in_color_space = JCS_RGB;
+    jpeg_set_defaults(&info);
+    jpeg_set_quality(&info, JPEG_COMPRESSION_QUALITY, true);
+
+    jpeg_start_compress(&info, true);
+
+    // Write the data into the file
+    JSAMPROW rowPointer;
+    int rowStride = texture.getWidth() * 3;
+    while (info.next_scanline < info.image_height) {
+        rowPointer = (JSAMPROW) &data[info.next_scanline * rowStride];
+        jpeg_write_scanlines(&info, &rowPointer, 1);
+    }
+
+    jpeg_finish_compress(&info);
+    jpeg_destroy_compress(&info);
+
+    // Close the file
+    fclose(file);
+
+    // Free allocated memory
+    delete[] data;
+}
+
+#endif

examples/common/opengl-framework/src/TextureReaderWriter.h

@@ -0,0 +1,79 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 TEXTURE_READER_WRITER_H
+#define TEXTURE_READER_WRITER_H
+
+// Libraries
+#include "Texture2D.h"
+#include <fstream>
+#include <iostream>
+#include <stdexcept>
+
+namespace openglframework {
+
+// Class TextureReaderWriter
+// This class is used to load or write a texture image in different picture format.
+// It currently allows to read and write the following formats : .tga
+class TextureReaderWriter {
+
+    private :
+
+        // ------------------- Constants ------------------- //
+
+        // JPEG quality for compression (in percent)
+        static const uint JPEG_COMPRESSION_QUALITY;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor (private because we do not want instances of this class)
+        TextureReaderWriter();
+
+        // Read a TGA picture
+        static void readTGAPicture(const std::string& filename, Texture2D& textureToCreate);
+
+        // Write a TGA picture
+        static void writeTGAPicture(const std::string& filename, const Texture2D& texture);
+
+        // Read a JPEG picture
+        static void readJPEGPicture(const std::string& filename, Texture2D& textureToCreate);
+
+        // Write a JPEG picture
+        static void writeJPEGPicture(const std::string& filename, const Texture2D& texture);
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        // Load a texture from a file
+        static void loadTextureFromFile(const std::string& filename, Texture2D& textureToCreate);
+
+        // Write a texture to a file
+        static void writeTextureToFile(const std::string& filename, const Texture2D& texture);
+};
+
+}
+
+#endif

examples/common/opengl-framework/src/VertexBufferObject.cpp

@@ -0,0 +1,84 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 "VertexBufferObject.h"
+
+using namespace openglframework;
+
+// Constructor
+VertexBufferObject::VertexBufferObject(GLenum targetData)
+                   : mVertexBufferID(0), mTargetData(targetData) {
+
+}
+
+// Destructor
+VertexBufferObject::~VertexBufferObject() {
+
+}
+
+// Create the vertex buffer object
+bool VertexBufferObject::create() {
+
+    // Destroy the current VBO
+    destroy();
+
+    // Check that the needed OpenGL extensions are available
+    bool isExtensionOK = checkOpenGLExtensions();
+    if (!isExtensionOK) {
+        std::cerr << "Error : Impossible to use Vertex Buffer Object on this platform" << std::endl;
+        assert(false);
+        return false;
+    }
+
+    // Generate a new VBO
+    glGenBuffers(1, &mVertexBufferID);
+    assert(mVertexBufferID != 0);
+
+    return true;
+}
+
+// Copy data into the VBO
+void VertexBufferObject::copyDataIntoVBO(GLsizei size, const void* data, GLenum usage) {
+
+    // Bind the VBO
+    bind();
+
+    // Copy the data into the VBO
+    glBufferData(mTargetData, size, data, usage);
+
+    // Unbind the VBO
+    unbind();
+}
+
+// Destroy the VBO
+void VertexBufferObject::destroy() {
+
+    // Delete the vertex buffer object
+    if (mVertexBufferID) {
+        glDeleteFramebuffers(1, &mVertexBufferID);
+        mVertexBufferID = 0;
+    }
+}

examples/common/opengl-framework/src/VertexBufferObject.h

@@ -0,0 +1,106 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 VERTEX_BUFFER_OBJECT_H
+#define VERTEX_BUFFER_OBJECT_H
+
+// Libraries
+#include <GL/glew.h>
+#include <cassert>
+#include <iostream>
+
+namespace openglframework {
+
+
+// Class VertexBufferObject
+class VertexBufferObject {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// ID of the Vertex Buffer Object
+        GLuint mVertexBufferID;
+
+        /// Target data. This variable must be GL_ARRAY_BUFFER if the VBO contains vertex
+        /// data (vertex coordinates, texture coordinates, normals, colors) or must be
+        /// GL_ELEMENT_ARRAY_BUFFER if the VBO contains index data (index array).
+        GLenum mTargetData;
+
+    public :
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        VertexBufferObject(GLenum targetData);
+
+        /// Destructor
+        ~VertexBufferObject();
+
+        /// Create the vertex buffer object
+        bool create();
+
+        /// Copy data into the VBO
+        void copyDataIntoVBO(GLsizei size, const void* data, GLenum usage);
+
+        /// Bind the VBO
+        void bind() const;
+
+        /// Unbind the VBO
+        void unbind() const;
+
+        /// Return true if the needed OpenGL extensions are available for VBO
+        static bool checkOpenGLExtensions();
+
+        /// Destroy the VBO
+        void destroy();
+};
+
+// Bind the VBO
+inline void VertexBufferObject::bind() const {
+    assert(mVertexBufferID != 0);
+
+    // Bind the VBO
+    glBindBuffer(mTargetData, mVertexBufferID);
+}
+
+// Unbind the VBO
+inline void VertexBufferObject::unbind() const {
+    assert(mVertexBufferID != 0);
+
+    // Unbind the VBO
+    glBindBuffer(mTargetData, 0);
+}
+
+// Return true if the needed OpenGL extensions are available for VBO
+inline bool VertexBufferObject::checkOpenGLExtensions() {
+
+    // Check that OpenGL version is at least 1.5 or there the vertex buffer object extension exists
+    return (GLEW_VERSION_1_5 || GL_ARB_vertex_buffer_object);
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/definitions.h

@@ -0,0 +1,39 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 DEFINITIONS_H
+#define DEFINITIONS_H
+
+namespace openglframework {
+
+// ------------------- Type definitions ------------------- //
+typedef unsigned int uint;
+
+// ------------------- Constants ------------------- //
+const float PI = 3.141592654f;
+
+}
+
+#endif

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

@@ -0,0 +1,76 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 COLOR_H
+#define COLOR_H
+
+namespace openglframework {
+
+// Structure Color
+// This structure represents a RGBA color.
+struct Color {
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        // RGBA color components
+        float r, g, b, a;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Color() : r(1), g(1), b(1), a(1) {}
+
+        // Constructor
+        Color(float r, float g, float b, float a) : r(r), g(g), b(b), a(a) {}
+
+        // Copy-constructor
+        Color(const Color& color) : r(color.r), g(color.g), b(color.b), a(color.a) {}
+
+        // Destructor
+        ~Color() {}
+
+        // Return the black color
+        static Color black() { return Color(0.0f, 0.0f, 0.0f, 1.0f);}
+
+        // Return the white color
+        static Color white() { return Color(1.0f, 1.0f, 1.0f, 1.0f);}
+
+        // = operator
+        Color& operator=(const Color& color) {
+            if (&color != this) {
+                r = color.r;
+                g = color.g;
+                b = color.b;
+                a = color.a;
+            }
+            return *this;
+        }
+};
+
+}
+
+#endif

examples/common/opengl-framework/src/maths/Matrix3.h

@@ -0,0 +1,279 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 MATRIX3_H
+#define MATRIX3_H
+
+// Libraries
+#include <cassert>
+#include <limits>
+#include "Vector3.h"
+
+namespace openglframework {
+
+// Class Matrix4
+// This class represents a 4x4 matrix
+class Matrix3 {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        // Elements of the matrix
+        float m[3][3];
+
+    public :
+
+        // Constructor
+        Matrix3() {
+            setToNull();
+        }
+
+        // Constructor
+        Matrix3(float a1, float a2,
+                float a3, float b1, float b2, float b3,
+                float c1, float c2, float c3) {
+            setAllValues(a1, a2, a3, b1, b2, b3, c1, c2, c3);
+        }
+
+        // Constructor
+        Matrix3(float n[3][3]) {
+            m[0][0]=n[0][0]; m[0][1]=n[0][1]; m[0][2]=n[0][2];
+            m[1][0]=n[1][0]; m[1][1]=n[1][1]; m[1][2]=n[1][2];
+            m[2][0]=n[2][0]; m[2][1]=n[2][1]; m[2][2]=n[2][2];
+        }
+
+        // Constructor
+        Matrix3(const Vector3& a1, const Vector3& a2, const Vector3& a3) {
+            m[0][0] = a1.x; m[0][1] = a2.x; m[0][2] = a3.x;
+            m[1][0] = a1.y; m[1][1] = a2.y; m[1][2] = a3.y;
+            m[2][0] = a1.z; m[2][1] = a2.z; m[2][2] = a3.z;
+        }
+
+        // Constructor
+        Matrix3(const Matrix3& matrix) {
+            setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2],
+                         matrix.m[1][0], matrix.m[1][1], matrix.m[1][2],
+                         matrix.m[2][0], matrix.m[2][1], matrix.m[2][2]);
+        }
+
+        // Method to get a value in the matrix
+        float getValue(int i, int j) const {
+            assert(i>=0 && i<3 && j>=0 && j<3);
+            return m[i][j];
+        }
+
+        // Method to set a value in the matrix
+        void setValue(int i, int j, float value) {
+            assert(i>=0 && i<3 && j>=0 && j<3);
+            m[i][j] = value;
+        }
+
+        // Method to set all the values in the matrix
+        void setAllValues(float a1, float a2, float a3, float b1, float b2, float b3,
+                                          float c1, float c2, float c3) {
+            m[0][0] = a1; m[0][1] = a2; m[0][2] = a3;
+            m[1][0] = b1; m[1][1] = b2; m[1][2] = b3;
+            m[2][0] = c1; m[2][1] = c2; m[2][2] = c3;
+        }
+
+        // Return a column
+        Vector3 getColumn(int i) const {
+            assert(i>= 0 && i<3);
+            return Vector3(m[0][i], m[1][i], m[2][i]);
+        }
+
+        // Return the transpose matrix
+        Matrix3 getTranspose() const {
+            // Return the transpose matrix
+            return Matrix3(m[0][0], m[1][0], m[2][0],
+                           m[0][1], m[1][1], m[2][1],
+                           m[0][2], m[1][2], m[2][2]);
+        }
+
+        // Return the determinant of the matrix
+        float getDeterminant() const {
+            // Compute and return the determinant of the matrix
+            return (m[0][0]*(m[1][1]*m[2][2]-m[2][1]*m[1][2]) - m[0][1]*(m[1][0]*m[2][2]-m[2][0]*m[1][2]) +
+                    m[0][2]*(m[1][0]*m[2][1]-m[2][0]*m[1][1]));
+        }
+
+        // Return the trace of the matrix
+        float getTrace() const {
+            // Compute and return the trace
+            return (m[0][0] + m[1][1] + m[2][2]);
+        }
+
+        void setToNull() {
+          m[0][0] = 0.0; m[0][1] = 0.0; m[0][2] = 0.0;
+          m[1][0] = 0.0; m[1][1] = 0.0; m[1][2] = 0.0;
+          m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 0.0;
+        }
+
+        bool isNull() const {
+          Matrix3 zero;
+          return *this == zero;
+        }
+
+        // Set the matrix to the identity matrix
+        void setToIdentity() {
+            m[0][0] = 1.0; m[0][1] = 0.0; m[0][2] = 0.0;
+            m[1][0] = 0.0; m[1][1] = 1.0; m[1][2] = 0.0;
+            m[2][0] = 0.0; m[2][1] = 0.0; m[2][2] = 1.0;
+        }
+
+        bool isIdentity() const {
+          Matrix3 I;
+          I.setToIdentity();
+          return ( *this == I );
+        }
+
+        // Return the inverse matrix
+        Matrix3 getInverse() const {
+
+            // Compute the determinant of the matrix
+            float determinant = getDeterminant();
+
+            // Check if the determinant is equal to zero
+            assert(determinant > std::numeric_limits<float>::epsilon());
+
+            float invDeterminant = 1.0f / determinant;
+            Matrix3 tempMatrix((m[1][1]*m[2][2]-m[2][1]*m[1][2]), -(m[0][1]*m[2][2]-m[2][1]*m[0][2]), (m[0][1]*m[1][2]-m[0][2]*m[1][1]),
+                               -(m[1][0]*m[2][2]-m[2][0]*m[1][2]), (m[0][0]*m[2][2]-m[2][0]*m[0][2]), -(m[0][0]*m[1][2]-m[1][0]*m[0][2]),
+                               (m[1][0]*m[2][1]-m[2][0]*m[1][1]), -(m[0][0]*m[2][1]-m[2][0]*m[0][1]), (m[0][0]*m[1][1]-m[0][1]*m[1][0]));
+
+            // Return the inverse matrix
+            return (tempMatrix * invDeterminant);
+        }
+
+        // Display the matrix
+        void print() const {
+            for (int i=0; i<3; i++) {
+                for (int j=0; j<3; j++) {
+                    std::cout << m[i][j] << " ";
+                }
+                std::cout << std::endl;
+            }
+        }
+
+        // Overloaded operator =
+        Matrix3& operator=(const Matrix3& matrix) {
+            if (&matrix != this) {
+                setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2],
+                             matrix.m[1][0], matrix.m[1][1], matrix.m[1][2],
+                             matrix.m[2][0], matrix.m[2][1], matrix.m[2][2]);
+            }
+            return *this;
+        }
+
+
+        // Overloaded operator for addition
+        Matrix3 operator+(const Matrix3& matrix2) {
+            return Matrix3(m[0][0] + matrix2.m[0][0], m[0][1] + matrix2.m[0][1], m[0][2] + matrix2.m[0][2],
+                           m[1][0] + matrix2.m[1][0], m[1][1] + matrix2.m[1][1], m[1][2] + matrix2.m[1][2],
+                           m[2][0] + matrix2.m[2][0], m[2][1] + matrix2.m[2][1], m[2][2] + matrix2.m[2][2]);
+        }
+
+        // Overloaded operator for substraction
+        Matrix3 operator-(const Matrix3& matrix2) {
+            return Matrix3(m[0][0] - matrix2.m[0][0], m[0][1] - matrix2.m[0][1], m[0][2] - matrix2.m[0][2],
+                           m[1][0] - matrix2.m[1][0], m[1][1] - matrix2.m[1][1], m[1][2] - matrix2.m[1][2],
+                           m[2][0] - matrix2.m[2][0], m[2][1] - matrix2.m[2][1], m[2][2] - matrix2.m[2][2]);
+        }
+
+        // Overloaded operator for the negative of the matrix
+        Matrix3 operator-() {
+            return Matrix3(-m[0][0], -m[0][1], -m[0][2],
+                           -m[1][0], -m[1][1], -m[1][2],
+                           -m[2][0], -m[2][1], -m[2][2]);
+        }
+
+        // Overloaded operator for multiplication with a number
+        Matrix3 operator*(float nb) {
+            return Matrix3(m[0][0] * nb, m[0][1] * nb, m[0][2] * nb,
+                           m[1][0] * nb, m[1][1] * nb, m[1][2] * nb,
+                           m[2][0] * nb, m[2][1] * nb, m[2][2] * nb);
+        }
+
+        // Overloaded operator for matrix multiplication
+        Matrix3 operator*(const Matrix3& matrix2) {
+            return Matrix3(m[0][0]*matrix2.m[0][0] + m[0][1]*matrix2.m[1][0] + m[0][2]*matrix2.m[2][0],
+                           m[0][0]*matrix2.m[0][1] + m[0][1]*matrix2.m[1][1] + m[0][2]*matrix2.m[2][1],
+                           m[0][0]*matrix2.m[0][2] + m[0][1]*matrix2.m[1][2] + m[0][2]*matrix2.m[2][2],
+                           m[1][0]*matrix2.m[0][0] + m[1][1]*matrix2.m[1][0] + m[1][2]*matrix2.m[2][0],
+                           m[1][0]*matrix2.m[0][1] + m[1][1]*matrix2.m[1][1] + m[1][2]*matrix2.m[2][1],
+                           m[1][0]*matrix2.m[0][2] + m[1][1]*matrix2.m[1][2] + m[1][2]*matrix2.m[2][2],
+                           m[2][0]*matrix2.m[0][0] + m[2][1]*matrix2.m[1][0] + m[2][2]*matrix2.m[2][0],
+                           m[2][0]*matrix2.m[0][1] + m[2][1]*matrix2.m[1][1] + m[2][2]*matrix2.m[2][1],
+                           m[2][0]*matrix2.m[0][2] + m[2][1]*matrix2.m[1][2] + m[2][2]*matrix2.m[2][2]);
+        }
+
+        // Overloaded operator for multiplication with a vector
+        Vector3 operator*(const Vector3& vector) {
+            return Vector3(m[0][0]*vector.x + m[0][1]*vector.y + m[0][2]*vector.z,
+                           m[1][0]*vector.x + m[1][1]*vector.y + m[1][2]*vector.z,
+                           m[2][0]*vector.x + m[2][1]*vector.y + m[2][2]*vector.z);
+        }
+
+        // Overloaded operator for equality condition
+        bool operator==(const Matrix3& matrix) const {
+            return (m[0][0] == matrix.m[0][0] && m[0][1] == matrix.m[0][1] && m[0][2] == matrix.m[0][2] &&
+                    m[1][0] == matrix.m[1][0] && m[1][1] == matrix.m[1][1] && m[1][2] == matrix.m[1][2] &&
+                    m[2][0] == matrix.m[2][0] && m[2][1] == matrix.m[2][1] && m[2][2] == matrix.m[2][2]);
+        }
+
+        // Overloaded operator for the is different condition
+        bool operator!= (const Matrix3& matrix) const {
+            return !(*this == matrix);
+        }
+
+        // Overloaded operator for addition with assignment
+        Matrix3& operator+=(const Matrix3& matrix) {
+            m[0][0] += matrix.m[0][0]; m[0][1] += matrix.m[0][1]; m[0][2] += matrix.m[0][2];
+            m[1][0] += matrix.m[1][0]; m[1][1] += matrix.m[1][1]; m[1][2] += matrix.m[1][2];
+            m[2][0] += matrix.m[2][0]; m[2][1] += matrix.m[2][1]; m[2][2] += matrix.m[2][2];
+            return *this;
+        }
+
+        // Overloaded operator for substraction with assignment
+        Matrix3& operator-=(const Matrix3& matrix) {
+            m[0][0] -= matrix.m[0][0]; m[0][1] -= matrix.m[0][1]; m[0][2] -= matrix.m[0][2];
+            m[1][0] -= matrix.m[1][0]; m[1][1] -= matrix.m[1][1]; m[1][2] -= matrix.m[1][2];
+            m[2][0] -= matrix.m[2][0]; m[2][1] -= matrix.m[2][1]; m[2][2] -= matrix.m[2][2];
+            return *this;
+        }
+
+        // Overloaded operator for multiplication with a number with assignment
+        Matrix3& operator*=(float nb) {
+            m[0][0] *= nb; m[0][1] *= nb; m[0][2] *= nb;
+            m[1][0] *= nb; m[1][1] *= nb; m[1][2] *= nb;
+            m[2][0] *= nb; m[2][1] *= nb; m[2][2] *= nb;
+            return *this;
+        }
+};
+
+}
+
+#endif

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

@@ -0,0 +1,427 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 MATRIX4_H
+#define MATRIX4_H
+
+// Libraries
+#include <math.h>
+#include <assert.h>
+#include <iostream>
+#include "Vector3.h"
+#include "Vector4.h"
+#include "Matrix3.h"
+
+namespace openglframework {
+
+// Class Matrix4
+// This class represents a 4x4 matrix
+class Matrix4 {
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        // Elements of the matrix
+        float m[4][4];
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Matrix4(float m_00=0, float m_01=0, float m_02=0, float m_03=0,
+                float m_10=0, float m_11=0, float m_12=0, float m_13=0,
+                float m_20=0, float m_21=0, float m_22=0, float m_23=0,
+                float m_30=0, float m_31=0, float m_32=0, float m_33=0) {
+            m[0][0] = m_00; m[0][1] = m_01; m[0][2] = m_02;  m[0][3] = m_03;
+            m[1][0] = m_10; m[1][1] = m_11; m[1][2] = m_12;  m[1][3] = m_13;
+            m[2][0] = m_20; m[2][1] = m_21; m[2][2] = m_22;  m[2][3] = m_23;
+            m[3][0] = m_30; m[3][1] = m_31; m[3][2] = m_32;  m[3][3] = m_33;
+        }
+
+        // Constructor
+        Matrix4(float n[4][4]) {
+            m[0][0]=n[0][0]; m[0][1]=n[0][1]; m[0][2]=n[0][2]; m[0][3]=n[0][3];
+            m[1][0]=n[1][0]; m[1][1]=n[1][1]; m[1][2]=n[1][2]; m[1][3]=n[1][3];
+            m[2][0]=n[2][0]; m[2][1]=n[2][1]; m[2][2]=n[2][2]; m[2][3]=n[2][3];
+            m[3][0]=n[3][0]; m[3][1]=n[3][1]; m[3][2]=n[3][2]; m[3][3]=n[3][3];
+        }
+
+        // Constructor
+        Matrix4(const Vector3& a1, const Vector3& a2, const Vector3& a3) {
+            m[0][0] = a1.x; m[0][1] = a2.x; m[0][2] = a3.x;  m[0][3] = 0.f;
+            m[1][0] = a1.y; m[1][1] = a2.y; m[1][2] = a3.y;  m[1][3] = 0.f;
+            m[2][0] = a1.z; m[2][1] = a2.z; m[2][2] = a3.z;  m[2][3] = 0.f;
+            m[3][0] = 0.f;  m[3][1] = 0.f;  m[3][2] = 0.f;   m[3][3] = 1.f;
+        }
+
+        // Constructor
+        Matrix4(const Vector4& a1, const Vector4& a2, const Vector4& a3) {
+            m[0][0] = a1.x; m[0][1] = a2.x; m[0][2] = a3.x;  m[0][3] = 0.f;
+            m[1][0] = a1.y; m[1][1] = a2.y; m[1][2] = a3.y;  m[1][3] = 0.f;
+            m[2][0] = a1.z; m[2][1] = a2.z; m[2][2] = a3.z;  m[2][3] = 0.f;
+            m[3][0] = a1.w; m[3][1] = a2.w; m[3][2] = a3.w;  m[3][3] = 1.f;
+        }
+
+        // Constructor
+        Matrix4(const Matrix4& matrix) {
+
+            setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2], matrix.m[0][3],
+                         matrix.m[1][0], matrix.m[1][1], matrix.m[1][2], matrix.m[1][3],
+                         matrix.m[2][0], matrix.m[2][1], matrix.m[2][2], matrix.m[2][3],
+                         matrix.m[3][0], matrix.m[3][1], matrix.m[3][2], matrix.m[3][3]);
+        }
+
+        // + operator
+        Matrix4 operator+(const Matrix4 &n) const {
+            return Matrix4(m[0][0]+n.m[0][0], m[0][1]+n.m[0][1], m[0][2]+n.m[0][2], m[0][3]+n.m[0][3],
+                           m[1][0]+n.m[1][0], m[1][1]+n.m[1][1], m[1][2]+n.m[1][2], m[1][3]+n.m[1][3],
+                           m[2][0]+n.m[2][0], m[2][1]+n.m[2][1], m[2][2]+n.m[2][2], m[2][3]+n.m[2][3],
+                           m[3][0]+n.m[3][0], m[3][1]+n.m[3][1], m[3][2]+n.m[3][2], m[3][3]+n.m[3][3]);
+        }
+
+        // += operator
+        Matrix4& operator+=(const Matrix4 &n) {
+            m[0][0]+=n.m[0][0]; m[0][1]+=n.m[0][1]; m[0][2]+=n.m[0][2]; m[0][3]+=n.m[0][3];
+            m[1][0]+=n.m[1][0]; m[1][1]+=n.m[1][1]; m[1][2]+=n.m[1][2]; m[1][3]+=n.m[1][3];
+            m[2][0]+=n.m[2][0]; m[2][1]+=n.m[2][1]; m[2][2]+=n.m[2][2]; m[2][3]+=n.m[2][3];
+            m[3][0]+=n.m[3][0]; m[3][1]+=n.m[3][1]; m[3][2]+=n.m[3][2]; m[3][3]+=n.m[3][3];
+            return *this;
+        }
+
+        // - operator
+        Matrix4 operator-(const Matrix4 &n) const {
+            return Matrix4(m[0][0]-n.m[0][0], m[0][1]-n.m[0][1], m[0][2]-n.m[0][2], m[0][3]-n.m[0][3],
+                           m[1][0]-n.m[1][0], m[1][1]-n.m[1][1], m[1][2]-n.m[1][2], m[1][3]-n.m[1][3],
+                           m[2][0]-n.m[2][0], m[2][1]-n.m[2][1], m[2][2]-n.m[2][2], m[2][3]-n.m[2][3],
+                           m[3][0]-n.m[3][0], m[3][1]-n.m[3][1], m[3][2]-n.m[3][2], m[3][3]-n.m[3][3]);
+        }
+
+        // -= operator
+        Matrix4& operator-=(const Matrix4 &n) {
+            m[0][0]-=n.m[0][0]; m[0][1]-=n.m[0][1]; m[0][2]-=n.m[0][2]; m[0][3]-=n.m[0][3];
+            m[1][0]-=n.m[1][0]; m[1][1]-=n.m[1][1]; m[1][2]-=n.m[1][2]; m[1][3]-=n.m[1][3];
+            m[2][0]-=n.m[2][0]; m[2][1]-=n.m[2][1]; m[2][2]-=n.m[2][2]; m[2][3]-=n.m[2][3];
+            m[3][0]-=n.m[3][0]; m[3][1]-=n.m[3][1]; m[3][2]-=n.m[3][2]; m[3][3]-=n.m[3][3];
+            return *this;
+        }
+
+        // = operator
+        Matrix4& operator=(const Matrix4& matrix) {
+            if (&matrix != this) {
+                setAllValues(matrix.m[0][0], matrix.m[0][1], matrix.m[0][2], matrix.m[0][3],
+                             matrix.m[1][0], matrix.m[1][1], matrix.m[1][2], matrix.m[1][3],
+                             matrix.m[2][0], matrix.m[2][1], matrix.m[2][2], matrix.m[2][3],
+                             matrix.m[3][0], matrix.m[3][1], matrix.m[3][2], matrix.m[3][3]);
+            }
+            return *this;
+        }
+
+        // == operator
+        bool operator==(const Matrix4 &n) const {
+            return m[0][0]==n.m[0][0] && m[0][1]==n.m[0][1] && m[0][2]==n.m[0][2] && m[0][3]==n.m[0][3] &&
+                    m[1][0]==n.m[1][0] && m[1][1]==n.m[1][1] && m[1][2]==n.m[1][2] && m[1][3]==n.m[1][3] &&
+                    m[2][0]==n.m[2][0] && m[2][1]==n.m[2][1] && m[2][2]==n.m[2][2] && m[2][3]==n.m[2][3] &&
+                    m[3][0]==n.m[3][0] && m[3][1]==n.m[3][1] && m[3][2]==n.m[3][2] && m[3][3]==n.m[3][3];
+        }
+
+        // * operator
+        Matrix4 operator*(const Matrix4 &n) const {
+            Matrix4 o;
+            for(int i = 0; i  < 4; i++) {
+                for(int j = 0; j < 4; j++) {
+                    float v = 0;
+                    for(int k = 0; k < 4; k++) {
+                        v += m[i][k] * n.m[k][j];
+                    }
+                    o.m[i][j] = v;
+                }
+            }
+            return o;
+        }
+
+        // * operator
+        Vector3 operator*(const Vector3 &v) const {
+            Vector3 u =Vector3(m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + m[0][3],
+                               m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + m[1][3],
+                               m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + m[2][3]);
+            float w = m[3][0]*v.x + m[3][1]*v.y + m[3][2]*v.z + m[3][3];
+            return u/w;
+        }
+
+        // * operator
+        Vector4 operator*(const Vector4 &v) const {
+            Vector4 u = Vector4(m[0][0]*v.x + m[0][1]*v.y + m[0][2]*v.z + v.w*m[0][3],
+                                m[1][0]*v.x + m[1][1]*v.y + m[1][2]*v.z + v.w*m[1][3],
+                                m[2][0]*v.x + m[2][1]*v.y + m[2][2]*v.z + v.w*m[2][3],
+                                m[3][0]*v.x + m[3][1]*v.y + m[3][2]*v.z + v.w*m[3][3]);
+            if(u.w != 0)
+                return u/u.w;
+            else
+                return u;
+        }
+
+        // * operator
+        Matrix4 operator*(float f) const {
+            return Matrix4(m[0][0]*f, m[0][1]*f, m[0][2]*f,  m[0][3]*f,
+                           m[1][0]*f, m[1][1]*f, m[1][2]*f,  m[1][3]*f,
+                           m[2][0]*f, m[2][1]*f, m[2][2]*f,  m[2][3]*f,
+                           m[3][0]*f, m[3][1]*f, m[3][2]*f,  m[3][3]*f);
+        }
+
+        // * operator
+        Matrix4 &operator*=(float f) {
+            m[0][0]*=f; m[0][1]*=f; m[0][2]*=f;  m[0][3]*=f;
+            m[1][0]*=f; m[1][1]*=f; m[1][2]*=f;  m[1][3]*=f;
+            m[2][0]*=f; m[2][1]*=f; m[2][2]*=f;  m[2][3]*=f;
+            m[3][0]*=f; m[3][1]*=f; m[3][2]*=f;  m[3][3]*=f;
+            return *this;
+        }
+
+        // / operator
+        Matrix4 operator/(float f) const {
+            assert(f!=0);
+            return Matrix4(m[0][0]/f, m[0][1]/f, m[0][2]/f,  m[0][3]/f,
+                           m[1][0]/f, m[1][1]/f, m[1][2]/f,  m[1][3]/f,
+                           m[2][0]/f, m[2][1]/f, m[2][2]/f,  m[2][3]/f,
+                           m[3][0]/f, m[3][1]/f, m[3][2]/f,  m[3][3]/f);
+        }
+
+        // /= operator
+        Matrix4 &operator/=(float f) {
+            assert(f!=0);
+            m[0][0]/=f; m[0][1]/=f; m[0][2]/=f;  m[0][3]/=f;
+            m[1][0]/=f; m[1][1]/=f; m[1][2]/=f;  m[1][3]/=f;
+            m[2][0]/=f; m[2][1]/=f; m[2][2]/=f;  m[2][3]/=f;
+            m[3][0]/=f; m[3][1]/=f; m[3][2]/=f;  m[3][3]/=f;
+            return *this;
+        }
+
+        // - operator
+        Matrix4 operator-() const {
+            return Matrix4(-m[0][0], -m[0][1], -m[0][2],  -m[0][3],
+                           -m[1][0], -m[1][1], -m[1][2],  -m[1][3],
+                           -m[2][0], -m[2][1], -m[2][2],  -m[2][3],
+                           -m[3][0], -m[3][1], -m[3][2],  -m[3][3]);
+        }
+
+        // Return the transpose matrix
+        Matrix4 getTranspose() const {
+            return Matrix4(m[0][0], m[1][0], m[2][0], m[3][0],
+                           m[0][1], m[1][1], m[2][1], m[3][1],
+                           m[0][2], m[1][2], m[2][2], m[3][2],
+                           m[0][3], m[1][3], m[2][3], m[3][3]);
+        }
+
+        // Return the 3x3 upper-left matrix
+        Matrix3 getUpperLeft3x3Matrix() const {
+            return Matrix3(m[0][0], m[0][1], m[0][2],
+                           m[1][0], m[1][1], m[1][2],
+                           m[2][0], m[2][1], m[2][2]);
+        }
+
+        // Return the inversed matrix
+        Matrix4 getInverse() const {
+            int indxc[4], indxr[4];
+            int ipiv[4] = { 0, 0, 0, 0 };
+            float minv[4][4];
+            float temp;
+
+            for (int s=0; s<4; s++) {
+                for (int t=0; t<4; t++) {
+                    minv[s][t] = m[s][t];
+                }
+            }
+
+            for (int i = 0; i < 4; i++) {
+                int irow = -1, icol = -1;
+                float big = 0.;
+                // Choose pivot
+                for (int j = 0; j < 4; j++) {
+                    if (ipiv[j] != 1) {
+                        for (int k = 0; k < 4; k++) {
+                            if (ipiv[k] == 0) {
+                                if (fabs(minv[j][k]) >= big) {
+                                    big = float(fabs(minv[j][k]));
+                                    irow = j;
+                                    icol = k;
+                                }
+                            }
+                            else if (ipiv[k] > 1) {
+                                std::cout << "ERROR: Singular matrix in MatrixInvert\n";
+                            }
+                        }
+                    }
+                }
+                ++ipiv[icol];
+                // Swap rows _irow_ and _icol_ for pivot
+                if (irow != icol) {
+                    for (int k = 0; k < 4; ++k){
+                        temp = minv[irow][k];
+                        minv[irow][k] = minv[icol][k];
+                        minv[icol][k] = temp;
+                    }
+                }
+                indxr[i] = irow;
+                indxc[i] = icol;
+                if (minv[icol][icol] == 0.){
+                    std::cout << "Singular matrix in MatrixInvert\n";
+                }
+                // Set $m[icol][icol]$ to one by scaling row _icol_ appropriately
+                float pivinv = 1.f / minv[icol][icol];
+                minv[icol][icol] = 1.f;
+                for (int j = 0; j < 4; j++) {
+                    minv[icol][j] *= pivinv;
+                }
+
+                // Subtract this row from others to zero out their columns
+                for (int j = 0; j < 4; j++) {
+                    if (j != icol) {
+                        float save = minv[j][icol];
+                        minv[j][icol] = 0;
+                        for (int k = 0; k < 4; k++) {
+                            minv[j][k] -= minv[icol][k]*save;
+                        }
+                    }
+                }
+            }
+            // Swap columns to reflect permutation
+            for (int j = 3; j >= 0; j--) {
+                if (indxr[j] != indxc[j]) {
+                    for (int k = 0; k < 4; k++){
+                        temp = minv[k][indxr[j]];
+                        minv[k][indxr[j]] = minv[k][indxc[j]];
+                        minv[k][indxc[j]] = temp;
+                    }
+                }
+            }
+            return Matrix4(minv);
+        }
+
+        // Method to set all the values in the matrix
+        void setAllValues(float a1, float a2, float a3, float a4,
+                          float b1, float b2, float b3, float b4,
+                          float c1, float c2, float c3, float c4,
+                          float d1, float d2, float d3, float d4) {
+            m[0][0] = a1; m[0][1] = a2; m[0][2] = a3, m[0][3] = a4;
+            m[1][0] = b1; m[1][1] = b2; m[1][2] = b3; m[1][3] = b4;
+            m[2][0] = c1; m[2][1] = c2; m[2][2] = c3; m[2][3] = c4;
+            m[3][0] = d1; m[3][1] = d2; m[3][2] = d3; m[3][3] = d4;
+        }
+
+        // Set the matrix to the identity matrix
+        Matrix4 setToIdentity() {
+            m[0][0] = 1.f; m[0][1] = 0.f; m[0][2] = 0.f;  m[0][3] = 0.f;
+            m[1][0] = 0.f; m[1][1] = 1.f; m[1][2] = 0.f;  m[1][3] = 0.f;
+            m[2][0] = 0.f; m[2][1] = 0.f; m[2][2] = 1.f;  m[2][3] = 0.f;
+            m[3][0] = 0.f; m[3][1] = 0.f; m[3][2] = 0.f;  m[3][3] = 1.f;
+            return *this;
+        }
+
+        // Display the matrix
+        void print() const {
+            for (int i=0; i<4; i++) {
+                for (int j=0; j<4; j++) {
+                    std::cout << m[i][j];
+                }
+                std::cout << std::endl;
+            }
+        }
+
+        // Return the pointer to the data array of the matrix
+        float* dataBlock() {
+            return m[0];
+        }
+
+        // Return the constant pointer to the data array of the matrix
+        const float* dataBlock() const {
+            return m[0];
+        }
+
+        // Return a given value from the matrix
+        float getValue(int i, int j) const {
+            assert(i >= 0 && i<4 && j >= 0 && j<4);
+            return m[i][j];
+        }
+
+        // Return the trace of the matrix
+        float getTrace() const {
+            // Compute and return the trace
+            return (m[0][0] + m[1][1] + m[2][2] + m[3][3]);
+        }
+
+        // Return a 4x4 translation matrix
+        static Matrix4 translationMatrix(const Vector3& v);
+
+        // Return a 4x4 rotation matrix
+        static Matrix4 rotationMatrix(const Vector3& axis, float angle);
+};
+
+// * operator
+inline Matrix4 operator*(float f, const Matrix4 & m) {
+	return (m * f);
+}
+
+// Return a 4x4 translation matrix
+inline Matrix4 Matrix4::translationMatrix(const Vector3& v) {
+    return Matrix4(1, 0, 0, v.x,
+                   0, 1, 0, v.y,
+                   0, 0, 1, v.z,
+                   0, 0, 0, 1);
+}
+
+// Return a 4x4 rotation matrix
+inline Matrix4 Matrix4::rotationMatrix(const Vector3& axis, float angle) {
+
+    float cosA = cos(angle);
+    float sinA = sin(angle);
+    Matrix4 rotationMatrix;
+    rotationMatrix.setToIdentity();
+
+    rotationMatrix.m[0][0] = cosA + (1-cosA) * axis.x * axis.x;
+    rotationMatrix.m[0][1] = (1-cosA) * axis.x * axis.y - axis.z * sinA;
+    rotationMatrix.m[0][2] = (1-cosA) * axis.x * axis.z + axis.y * sinA;
+    rotationMatrix.m[0][3] = 0.f;
+
+    rotationMatrix.m[1][0] = (1-cosA) * axis.x * axis.y + axis.z * sinA;
+    rotationMatrix.m[1][1] = cosA + (1-cosA) * axis.y * axis.y;
+    rotationMatrix.m[1][2] = (1-cosA) * axis.y * axis.z - axis.x * sinA;
+    rotationMatrix.m[1][3] = 0.f;
+
+    rotationMatrix.m[2][0] = (1-cosA) * axis.x * axis.z - axis.y * sinA;
+    rotationMatrix.m[2][1] = (1-cosA) * axis.y * axis.z + axis.x * sinA;
+    rotationMatrix.m[2][2] = cosA + (1-cosA) * axis.z * axis.z;
+    rotationMatrix.m[2][3] = 0.f;
+
+    rotationMatrix.m[3][0] = 0.f;
+    rotationMatrix.m[3][1] = 0.f;
+    rotationMatrix.m[3][2] = 0.f;
+    rotationMatrix.m[3][3] = 1.f;
+
+    return rotationMatrix;
+}
+
+}
+
+#endif //_MATRIX4_H

examples/common/opengl-framework/src/maths/Vector2.h

@@ -0,0 +1,159 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 VECTOR2_H
+#define VECTOR2_H
+
+// Libraries
+#include <math.h>
+#include <assert.h>
+
+namespace openglframework {
+
+// Class Vector2
+// This class represents a 2D vector.
+class Vector2 {
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        // Components of the vector
+        float x, y;
+
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Vector2(float x=0, float y=0) : x(x), y(y) {}
+
+        // Constructor
+        Vector2(const Vector2& vector) : x(vector.x), y(vector.y) {}
+
+        // + operator
+        Vector2 operator+(const Vector2 &v) const {
+            return Vector2(x + v.x, y + v.y);
+        }
+
+        // += operator
+        Vector2& operator+=(const Vector2 &v) {
+            x += v.x; y += v.y;
+            return *this;
+        }
+
+        // - operator
+        Vector2 operator-(const Vector2 &v) const {
+            return Vector2(x - v.x, y - v.y);
+        }
+
+        // -= operator
+        Vector2& operator-=(const Vector2 &v) {
+            x -= v.x; y -= v.y;
+            return *this;
+        }
+
+        // = operator
+        Vector2& operator=(const Vector2& vector) {
+            if (&vector != this) {
+                x = vector.x;
+                y = vector.y;
+            }
+            return *this;
+        }
+
+        // == operator
+        bool operator==(const Vector2 &v) const {
+            return x == v.x && y == v.y;
+        }
+
+        // * operator
+        Vector2 operator*(float f) const {
+            return Vector2(f*x, f*y);
+        }
+
+        // *= operator
+        Vector2 &operator*=(float f) {
+            x *= f; y *= f;
+            return *this;
+        }
+
+        // / operator
+        Vector2 operator/(float f) const {
+            assert(f!=0);
+            float inv = 1.f / f;
+            return Vector2(x * inv, y * inv);
+        }
+
+        // /= operator
+        Vector2 &operator/=(float f) {
+            assert(f!=0);
+            float inv = 1.f / f;
+            x *= inv; y *= inv;
+            return *this;
+        }
+
+        // - operator
+        Vector2 operator-() const {
+            return Vector2(-x, -y);
+        }
+
+        // [] operator
+        float &operator[](int i) {
+            assert(i >= 0 && i <= 1);
+            switch (i) {
+                case 0: return x;
+                case 1: return y;
+            }
+            return y;
+        }
+
+        // Normalize the vector and return it
+        Vector2 normalize() {
+            float l = length();
+            assert(l > 0);
+            x /= l;
+            y /= l;
+            return *this;
+        }
+
+        // Clamp the vector values between 0 and 1
+        Vector2 clamp01() {
+            if (x>1.f) x=1.f;
+            else if (x<0.f) x=0.f;
+            if (y>1.f) y=1.f;
+            else if (y<0.f) y=0.f;
+            return *this;
+        }
+
+        // Return the squared length of the vector
+        float lengthSquared() const { return x*x + y*y; }
+
+        // Return the length of the vector
+        float length() const { return sqrt(lengthSquared()); }
+};
+
+}
+
+#endif

examples/common/opengl-framework/src/maths/Vector3.h

@@ -0,0 +1,203 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 OPENGLFRAMEWORK_VECTOR3_H
+#define OPENGLFRAMEWORK_VECTOR3_H
+
+// Libraries
+#include <cmath>
+#include <cassert>
+#include <limits>
+
+namespace openglframework {
+
+// Class Vector3
+// This class represents a 3D vector.
+class Vector3 {
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        // Components of the vector
+        float x, y, z;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Vector3(float x=0, float y=0, float z=0) : x(x), y(y), z(z) {}
+
+        // Constructor
+        Vector3(const Vector3& vector) : x(vector.x), y(vector.y), z(vector.z) {}
+
+        // Constructor
+        ~Vector3() {}
+
+        // = operator
+        Vector3& operator=(const Vector3& vector) {
+            if (&vector != this) {
+                x = vector.x;
+                y = vector.y;
+                z = vector.z;
+            }
+            return *this;
+        }
+
+        // + operator
+        Vector3 operator+(const Vector3 &v) const {
+            return Vector3(x + v.x, y + v.y, z + v.z);
+        }
+
+        // += operator
+        Vector3& operator+=(const Vector3 &v) {
+            x += v.x; y += v.y; z += v.z;
+            return *this;
+        }
+
+        // - operator
+        Vector3 operator-(const Vector3 &v) const {
+            return Vector3(x - v.x, y - v.y, z - v.z);
+        }
+
+        // -= operator
+        Vector3& operator-=(const Vector3 &v) {
+            x -= v.x; y -= v.y; z -= v.z;
+            return *this;
+        }
+
+        // == operator
+        bool operator==(const Vector3 &v) const {
+            return x == v.x && y == v.y && z == v.z;
+        }
+
+        // != operator
+        bool operator!=(const Vector3 &v) const {
+          return !( *this == v );
+        }
+
+        // * operator
+        Vector3 operator*(float f) const {
+            return Vector3(f*x, f*y, f*z);
+        }
+
+        // *= operator
+        Vector3 &operator*=(float f) {
+            x *= f; y *= f; z *= f;
+            return *this;
+        }
+
+        // / operator
+        Vector3 operator/(float f) const {
+            assert(f > std::numeric_limits<float>::epsilon() );
+            float inv = 1.f / f;
+            return Vector3(x * inv, y * inv, z * inv);
+        }
+
+        // /= operator
+        Vector3 &operator/=(float f) {
+            assert(f > std::numeric_limits<float>::epsilon());
+            float inv = 1.f / f;
+            x *= inv; y *= inv; z *= inv;
+            return *this;
+        }
+
+        // - operator
+        Vector3 operator-() const {
+            return Vector3(-x, -y, -z);
+        }
+
+        // [] operator
+        float &operator[](int i) {
+            assert(i >= 0 && i <= 2);
+            switch (i) {
+            case 0: return x;
+            case 1: return y;
+            case 2: return z;
+            }
+            return z;
+        }
+
+        // [] operator
+        const float &operator[](int i) const {
+            assert(i >= 0 && i <= 2);
+            switch (i) {
+            case 0: return x;
+            case 1: return y;
+            case 2: return z;
+            }
+            return z;
+        }
+
+        // Cross product operator
+        Vector3 cross(const Vector3 &v) const{
+            return Vector3(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);
+        }
+
+        // Dot product operator
+        float dot(const Vector3 &v) const{
+            return x * v.x + y * v.y + z * v.z;
+        }
+
+        // Normalize the vector and return it
+        Vector3 normalize() {
+            float l = length();
+            if(l < std::numeric_limits<float>::epsilon() ) {
+              assert(false);
+              }
+            x /= l;
+            y /= l;
+            z /= l;
+            return *this;
+        }
+
+        bool isNull() const {
+          return( x == 0. && y == 0. && z == 0. );
+        }
+
+        // Clamp the values between 0 and 1
+        Vector3 clamp01() {
+            if (x>1.f) x=1.f;
+            else if (x<0.f) x=0.f;
+            if (y>1.f) y=1.f;
+            else if (y<0.f) y=0.f;
+            if (z>1.f) z=1.f;
+            else if (z<0.f) z=0.f;
+            return *this;
+        }
+
+        // Return the squared length of the vector
+        float lengthSquared() const { return x*x + y*y + z*z; }
+
+        // Return the length of the vector
+        float length() const { return sqrt(lengthSquared()); }
+};
+
+inline Vector3 operator*(float f, const Vector3 & o) {
+  return o*f;
+}
+
+}
+
+#endif

examples/common/opengl-framework/src/maths/Vector4.h

@@ -0,0 +1,167 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 VECTOR4_H
+#define VECTOR4_H
+
+// Libraries
+#include <math.h>
+#include <assert.h>
+
+namespace openglframework {
+
+// Class Vector4
+// This class represents a 4D vector.
+class Vector4 {
+
+    public:
+
+        // -------------------- Attributes -------------------- //
+
+        // Components of the vector
+        float x, y, z, w;
+
+        // -------------------- Methods -------------------- //
+
+        // Constructor
+        Vector4(float x=0, float y=0, float z=0, float w=0) : x(x), y(y), z(z), w(w) {}
+
+        // Constructor
+        Vector4(const Vector4& vector) : x(vector.x), y(vector.y), z(vector.z), w(vector.w) {}
+
+        // + operator
+        Vector4 operator+(const Vector4 &v) const {
+            return Vector4(x + v.x, y + v.y, z + v.z, w + v.w);
+        }
+
+        // += operator
+        Vector4& operator+=(const Vector4 &v) {
+            x += v.x; y += v.y; z += v.z; w += v.w;
+            return *this;
+        }
+
+        // - operator
+        Vector4 operator-(const Vector4 &v) const {
+            return Vector4(x - v.x, y - v.y, z - v.z, w - v.w);
+        }
+
+        // -= operator
+        Vector4& operator-=(const Vector4 &v) {
+            x -= v.x; y -= v.y; z -= v.z, w -=v.w;
+            return *this;
+        }
+
+        // = operator
+        Vector4& operator=(const Vector4& vector) {
+            if (&vector != this) {
+                x = vector.x;
+                y = vector.y;
+                z = vector.z;
+                w = vector.w;
+            }
+            return *this;
+        }
+
+        // == operator
+        bool operator==(const Vector4 &v) const {
+            return x == v.x && y == v.y && z == v.z && w == v.w;
+        }
+
+        // * operator
+        Vector4 operator*(float f) const {
+            return Vector4(f*x, f*y, f*z, f*w);
+        }
+
+        // *= operator
+        Vector4 &operator*=(float f) {
+            x *= f; y *= f; z *= f; w *= f;
+            return *this;
+        }
+
+        // / operator
+        Vector4 operator/(float f) const {
+            assert(f!=0);
+            float inv = 1.f / f;
+            return Vector4(x * inv, y * inv, z * inv, w * inv);
+        }
+
+        // /= operator
+        Vector4 &operator/=(float f) {
+            assert(f!=0);
+            float inv = 1.f / f;
+            x *= inv; y *= inv; z *= inv; w *= inv;
+            return *this;
+        }
+
+        // - operator
+        Vector4 operator-() const {
+            return Vector4(-x, -y, -z, -w);
+        }
+
+        // [] operator
+        float &operator[](int i) {
+            assert(i >= 0 && i <= 3);
+            switch (i) {
+            case 0: return x;
+            case 1: return y;
+            case 2: return z;
+            case 3: return w;
+            }
+            return w;
+        }
+
+        // Dot product operator
+        float dot(const Vector4 &v) const {
+            return x * v.x + y * v.y + z * v.z + w * v.w;
+        }
+
+        // Multiply two vectors by their components
+        Vector4 componentMul(const Vector4 &v) const {
+            return Vector4(x * v.x, y * v.y, z * v.z, w * v.w);
+        }
+
+        // Clamp the values between 0 and 1
+        Vector4 clamp01() {
+            if (x>1.f) x=1.f;
+            else if (x<0.f) x=0.f;
+            if (y>1.f) y=1.f;
+            else if (y<0.f) y=0.f;
+            if (z>1.f) z=1.f;
+            else if (z<0.f) z=0.f;
+            if (w>1.f) w=1.f;
+            else if (w<0.f) w=0.f;
+            return *this;
+        }
+
+        // Return the squared length of the vector
+        float lengthSquared() const { return x * x + y * y + z * z + w * w; }
+
+        // Return the length of the vector
+        float length() const { return sqrt(lengthSquared()); }
+};
+
+}
+
+#endif //_VECTOR4_H

examples/common/opengl-framework/src/openglframework.h

@@ -0,0 +1,49 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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 OPENGL_FRAMEWORK_H
+#define OPENGL_FRAMEWORK_H
+
+// Libraries
+#include "MeshReaderWriter.h"
+#include "TextureReaderWriter.h"
+#include "GlutViewer.h"
+#include "Camera.h"
+#include "Light.h"
+#include "Mesh.h"
+#include "Shader.h"
+#include "Texture2D.h"
+#include "FrameBufferObject.h"
+#include "VertexBufferObject.h"
+#include "Shader.h"
+#include "maths/Color.h"
+#include "maths/Vector2.h"
+#include "maths/Vector3.h"
+#include "maths/Vector4.h"
+#include "maths/Matrix4.h"
+#include "maths/Matrix3.h"
+#include "definitions.h"
+
+#endif

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

@@ -0,0 +1,32 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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.    *
+*                                                                               *
+********************************************************************************/
+
+void main(void) {
+
+    // Compute the depth of the pixel
+    float depth =
+
+    gl_FragColor = vec4(depth, depth, depth, 1);
+}

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

@@ -0,0 +1,36 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Uniform variables
+uniform mat4 modelToWorldMatrix;        // Model too world coordinates matrix
+uniform mat4 worldToCameraMatrix;       // World to camera coordinates matrix
+uniform mat4 projectionMatrix;          // Projection matrix
+
+void main(void) {
+
+    // Compute the clip-space vertex coordinates
+    gl_Position = projectionMatrix * worldToCameraMatrix *
+                  modelToWorldMatrix * gl_Vertex;
+}

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

@@ -0,0 +1,67 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Uniform variables
+uniform vec3 lightAmbientColor;             // Lights ambient color
+uniform vec3 light0PosCameraSpace;          // Camera-space position of the light
+uniform vec3 light0DiffuseColor;            // Light 0 diffuse color
+uniform vec3 light0SpecularColor;           // Light 0 specular color
+uniform float shininess;                    // Shininess
+uniform sampler2D texture;                  // Texture
+uniform bool isTexture;                     // True if we need to use the texture
+uniform vec4 vertexColor;                   // Vertex color
+
+// Varying variables
+varying vec3 vertexPosCameraSpace;          // Camera-space position of the vertex
+varying vec3 vertexNormalCameraSpace;       // Vertex normal in camera-space
+varying vec2 texCoords;                     // Texture coordinates
+
+void main() {
+
+    // Compute the ambient term
+    vec3 ambient = lightAmbientColor;
+
+    // Get the texture color
+    vec3 textureColor = vertexColor.rgb;
+    if (isTexture) textureColor = texture2D(texture, texCoords).rgb;
+
+    // Compute the surface normal vector
+    vec3 N = normalize(vertexNormalCameraSpace);
+
+    // Compute the diffuse term of light 0
+    vec3 L0 = normalize(light0PosCameraSpace - vertexPosCameraSpace);
+    float diffuseFactor = max(dot(N, L0), 0.0);
+    vec3 diffuse = light0DiffuseColor * diffuseFactor * textureColor;
+
+    // Compute the specular term of light 0
+    vec3 V = normalize(-vertexPosCameraSpace);
+    vec3 H0 = normalize(V + L0);
+    float specularFactor = pow(max(dot(N, H0), 0.0), shininess);
+    if (diffuseFactor < 0.0) specularFactor = 0.0;
+    vec3 specular = light0SpecularColor * specularFactor;
+
+    // Compute the final color
+    gl_FragColor = vec4(ambient + diffuse + specular, 1.0);
+}

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

@@ -0,0 +1,50 @@
+/********************************************************************************
+* OpenGL-Framework                                                              *
+* Copyright (c) 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.    *
+*                                                                               *
+********************************************************************************/
+
+// Uniform variables
+uniform mat4 localToCameraMatrix;       // Local-space to camera-space matrix
+uniform mat4 projectionMatrix;          // Projection matrix
+uniform mat3 normalMatrix;              // Normal matrix
+
+// Varying variables
+varying vec3 vertexPosCameraSpace;      // Camera-space position of the vertex
+varying vec3 vertexNormalCameraSpace;   // Vertex normal in camera-space
+varying vec2 texCoords;                 // Texture coordinates
+
+void main() {
+
+    // Compute the vertex position
+    vec4 positionCameraSpace = localToCameraMatrix * gl_Vertex;
+    vertexPosCameraSpace = positionCameraSpace.xyz;
+
+    // Compute the world surface normal
+    vertexNormalCameraSpace = normalMatrix * gl_Normal;
+
+    // Get the texture coordinates
+    texCoords = gl_MultiTexCoord0.xy;
+
+    // Compute the clip-space vertex coordinates
+    gl_Position = projectionMatrix * positionCameraSpace;
+}

examples/cubes/CMakeLists.txt

@@ -0,0 +1,35 @@
+# Minimum cmake version required
+cmake_minimum_required(VERSION 2.6)
+
+# Project configuration
+PROJECT(Cubes)
+
+# Where to build the executables
+SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/cubes")
+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 "${EXECUTABLE_OUTPUT_PATH}/shaders/")
+
+# Headers
+INCLUDE_DIRECTORIES("${OPENGLFRAMEWORK_DIR}/src/" "../common/")
+
+# Source files
+SET(CUBES_SOURCES
+    Cubes.cpp
+    Scene.cpp
+    Scene.cpp
+    Scene.h
+    "../common/Box.cpp"
+    "../common/Box.h"
+    "../common/Viewer.cpp"
+    "../common/Viewer.h"
+)
+
+# Create the executable
+ADD_EXECUTABLE(cubes ${CUBES_SOURCES})
+
+# Link with libraries
+TARGET_LINK_LIBRARIES(cubes reactphysics3d openglframework)

examples/cubes/Cubes.cpp

@@ -0,0 +1,158 @@
+/********************************************************************************
+* 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 "Viewer.h"
+
+// Declarations
+void simulate();
+void display();
+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 keyboard(unsigned char key, int x, int y);
+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);
+    bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Cubes", windowsSize, windowsPosition);
+    if (!initOK) return 1;
+
+    // Create the scene
+    scene = new Scene(viewer);
+
+    init();
+
+    // Glut Idle function that is continuously called
+    glutIdleFunc(simulate);
+    glutDisplayFunc(display);
+    glutReshapeFunc(reshape);
+    glutMouseFunc(mouseButton);
+    glutMotionFunc(mouseMotion);
+    glutKeyboardFunc(keyboard);
+
+#ifdef USE_FREEGLUT
+    glutCloseFunc(finish);
+#else
+    atexit(finish);
+#endif
+
+    // Glut main looop
+    glutMainLoop();
+
+    return 0;
+}
+
+// Simulate function
+void simulate() {
+
+    // Physics simulation
+    scene->simulate();
+
+    viewer->computeFPS();
+
+    // Ask GLUT to render the scene
+    glutPostRedisplay ();
+}
+
+// Initialization
+void init() {
+
+    // Define the background color (black)
+    glClearColor(0.0, 0.0, 0.0, 1.0);
+}
+
+// Reshape function
+void reshape(int newWidth, int newHeight) {
+    viewer->reshape(newWidth, newHeight);
+}
+
+// Called when a mouse button event occurs
+void mouseButton(int button, int state, int x, int y) {
+    viewer->mouseButtonEvent(button, state, x, y);
+}
+
+// Called when a mouse motion event occurs
+void mouseMotion(int x, int y) {
+    viewer->mouseMotionEvent(x, y);
+}
+
+// Called when the user hits a special key on the keyboard
+void keyboard(unsigned char key, int x, int y) {
+    switch(key) {
+
+        // Escape key
+        case 27:
+            #ifdef USE_FREEGLUT
+                glutLeaveMainLoop();
+            #endif
+            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
+void display() {
+
+    // Render the scene
+    scene->render();
+
+    // Display the FPS
+    viewer->displayGUI();
+
+    // Swap the buffers
+    glutSwapBuffers();
+
+    // Check the OpenGL errors
+    GlutViewer::checkOpenGLErrors();
+}
+
+

examples/cubes/Scene.cpp

@@ -0,0 +1,191 @@
+/********************************************************************************
+* 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(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
+                               mPhongShader("shaders/phong.vert",
+                                            "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 radiusScene = 10.0f;
+    openglframework::Vector3 center(0, 5, 0);
+
+    // Set the center of the scene
+    mViewer->setScenePosition(center, radiusScene);
+
+    // Gravity vector in the dynamics world
+    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+
+    // Time step for the physics simulation
+    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->setNbIterationsVelocitySolver(15);
+
+    float radius = 2.0f;
+
+    // Create all the cubes of the scene
+    for (int i=0; i<NB_SPHERES; i++) {
+
+        // Position of the cubes
+        float angle = i * 30.0f;
+        openglframework::Vector3 position(radius * cos(angle),
+                                          1 + i * (BOX_SIZE.y + 0.3f),
+                                          0);
+
+        // Create a cube and a corresponding rigid in the dynamics world
+        Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
+
+        cube->getRigidBody()->enableMotion(true);
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = cube->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.4));
+
+        // Add the box the list of box in the scene
+        mBoxes.push_back(cube);
+    }
+
+    // Create the floor
+    openglframework::Vector3 floorPosition(0, 0, 0);
+    mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
+
+    // The floor must be a non-moving rigid body
+    mFloor->getRigidBody()->enableMotion(false);
+
+    // Change the material properties of the floor rigid body
+    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    material.setBounciness(rp3d::decimal(0.3));
+
+    // Start the simulation
+    startSimulation();
+}
+
+// Destructor
+Scene::~Scene() {
+
+    // Stop the physics simulation
+    stopSimulation();
+
+    // Destroy the shader
+    mPhongShader.destroy();
+
+    // Destroy all the cubes of the scene
+    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+
+        // Destroy the corresponding rigid body from the dynamics world
+        mDynamicsWorld->destroyRigidBody((*it)->getRigidBody());
+
+        // Destroy the cube
+        delete (*it);
+    }
+
+    // Destroy the rigid body of the floor
+    mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
+
+    // Destroy the floor
+    delete mFloor;
+
+    // Destroy the dynamics world
+    delete mDynamicsWorld;
+}
+
+// Take a step for the simulation
+void Scene::simulate() {
+
+    // If the physics simulation is running
+    if (mIsRunning) {
+
+        // 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();
+
+        // Set the color of the awake/sleeping bodies
+        for (uint i=0; i<mBoxes.size(); i++) {
+            if (mBoxes[i]->getRigidBody()->isSleeping()) {
+                mBoxes[i]->setColor(Color(1, 0, 0, 1));
+            }
+            else {
+                mBoxes[i]->setColor(Color(0, 1, 0, 1));
+            }
+        }
+    }
+}
+
+// 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();
+
+    // 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& diffCol = mLight0.getDiffuseColor();
+    const Color& specCol = mLight0.getSpecularColor();
+    mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
+    mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
+    mPhongShader.setFloatUniform("shininess", 60.0f);
+
+    // Render all the cubes of the scene
+    for (std::vector<Box*>::iterator it = mBoxes.begin(); it != mBoxes.end(); ++it) {
+        (*it)->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render the floor
+    mFloor->render(mPhongShader, worldToCameraMatrix);
+
+    // Unbind the shader
+    mPhongShader.unbind();
+}

examples/cubes/Scene.h

@@ -0,0 +1,117 @@
+/********************************************************************************
+* 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 "Box.h"
+
+// Constants
+const int NB_SPHERES = 20;                                    // Number of boxes in the scene
+const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
+const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);    // Floor dimensions in meters
+const float BOX_MASS = 1.0f;                               // Box mass in kilograms
+const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
+
+// Class Scene
+class Scene {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Pointer to the viewer
+        openglframework::GlutViewer* mViewer;
+
+        /// Light 0
+        openglframework::Light mLight0;
+
+        /// Phong shader
+        openglframework::Shader mPhongShader;
+
+        /// All the boxes of the scene
+        std::vector<Box*> mBoxes;
+
+        /// Box for the floor
+        Box* mFloor;
+
+        /// Dynamics world used for the physics simulation
+        rp3d::DynamicsWorld* mDynamicsWorld;
+
+        /// True if the physics simulation is running
+        bool mIsRunning;
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Scene(openglframework::GlutViewer* viewer);
+
+        /// Destructor
+        ~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

examples/fallingcubes/CMakeLists.txt

@@ -1,56 +0,0 @@
-# Minimum cmake version required
-cmake_minimum_required(VERSION 2.6)
-
-# Project configuration
-PROJECT(FallingCubes)
-
-# Find Glut or Freeglut
-FIND_PACKAGE(GLUT)
-if (NOT GLUT_FOUND)
-   # Find the Freeglut library
-   FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h
-             /usr/include/GL
-             )
-   FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut glut)
-   INCLUDE(FindPackageHandleStandardArgs)
-   FIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEGLUT DEFAULT_MSG FREEGLUT_LIBRARY FREEGLUT_INCLUDE_DIR)
-   IF(FREEGLUT_FOUND)
-      MESSAGE("Freeglut found")
-      SET(FREEGLUT_LIBRARIES ${FREEGLUT_LIBRARY})
-      SET(FREEGLUT_INCLUDE_DIRS ${FREEGLUT_INCLUDE_DIR})
-   else()
-      MESSAGE("Freeglut not found (required to build the examples)")
-      SET(FREEGLUT_LIBRARIES)
-      SET(FREEGLUT_INCLUDE_DIRS)
-   endif()
-endif()
-
-# Find OpenGL
-FIND_PACKAGE(OpenGL)
-if(OPENGL_FOUND)
-   MESSAGE("OpenGL found")
-else()
-   MESSAGE("OpenGL not found")
-endif()
-
-# Headers
-if(GLUT_FOUND)
-    INCLUDE_DIRECTORIES(${REACTPHYSICS3D_SOURCE_DIR}/src ${GLUT_INCLUDE_DIR})
-elseif(FREEGLUT_FOUND)
-    INCLUDE_DIRECTORIES(${REACTPHYSICS3D_SOURCE_DIR}/src ${FREEGLUT_INCLUDE_DIRS})
-endif()
-
-# Definitions
-if (FREEGLUT_FOUND)
-    ADD_DEFINITIONS(-DUSE_FREEGLUT)
-endif()
-
-# Create the example executable using the
-# compiled reactphysics3d static library
-ADD_EXECUTABLE(fallingcubes main.cpp Box.cpp Box.h)
-
-if(GLUT_FOUND)
-   TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${GLUT_LIBRARY} ${OPENGL_LIBRARY})
-elseif(FREEGLUT_FOUND)
-   TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d ${FREEGLUT_LIBRARY} ${OPENGL_LIBRARY})
-endif()

examples/fallingcubes/main.cpp

@@ -1,248 +0,0 @@
-/********************************************************************************
-* 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 <stdlib.h>
-#include <reactphysics3d.h>
-#include "Box.h"
-
-// Prototypes
-void init();
-void display();
-void simulate();
-void clean();
-void reshape(int w, int h);
-
-// Use the ReactPhysics3D namespace
-using namespace reactphysics3d;
-
-// Constants
-const double FLOOR_SIZE = 20;
-const double FLOOR_THICKNESS = 0.02;
-
-// Global variables
-DynamicsWorld* dynamicsWorld;   // Dynamics world
-Box* boxes[2];                  // Falling boxes
-BoxShape* collisionShapeBox1;   // Collision shape of the first box
-BoxShape* collisionShapeBox2;   // Collision shape of the second box
-BoxShape* collisionShapeFloor;  // Collision shape of the floor
-RigidBody* floorRigidBody;      // Rigid body corresponding the floor
-
-
-// Simulation function
-void simulate() {
-
-    // Update the physics simulation
-    dynamicsWorld->update();
-
-    // Display the scene
-    display();
-}
-
-// Main function
-int main(int argc, char** argv) {
-
-    // Initialize GLUT
-    glutInit(&argc, argv);
-    glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH);
-    glutInitWindowSize(800, 600);
-    glutInitWindowPosition(100, 100);
-    glutCreateWindow("ReactPhysics3D Example - Falling Cubes");
-
-    init();
-
-    glutIdleFunc(simulate);
-    glutDisplayFunc(display);
-    glutReshapeFunc(reshape);
-    glutMainLoop();
-
-    // Stop the physics simulation
-    dynamicsWorld->stop();
-
-    clean();
-    
-    return 0;
-}
-
-// Initialization function
-void init() {
-
-    glClearColor(0.0, 0.0, 0.0, 0.0);
-
-    // Light
-    glShadeModel(GL_SMOOTH);
-    GLfloat light_position[] = {5.0f, 5.0f, 5.0f, 1.0f};
-    glLightfv(GL_LIGHT0, GL_POSITION, light_position);
-
-    glEnable(GL_LIGHTING);
-    glEnable(GL_LIGHT0);
-    glEnable(GL_DEPTH_TEST);
-
-    // Gravity vector of the physics world
-    Vector3 gravity(0.0, -9.81, 0.0);
-
-    // Timestep of the simulation
-    decimal timeStep = 1.0/60.0;
-
-    // Create the dynamics world
-    dynamicsWorld = new DynamicsWorld(gravity, timeStep);
-
-    // --- Create a falling box with a size of 1m and weight of 3kg --- //
-
-    float size = 1.0f;
-
-    // Initial position and orientation of the box
-    Vector3 positionBox1(-2.0f, 7.0f, 0.0f);
-    Quaternion orientationBox1(0.3, 1.0, 0.8, 0.0);
-    Transform initTransform(positionBox1, orientationBox1);
-
-    // Create a box collision shape for the box (used for collision detection)
-    collisionShapeBox1 = new BoxShape(Vector3(size/2.0f, size/2.0f, size/2.0f));
-
-    // Compute the inertia tensor of the box using the collision shape
-    Matrix3x3 inertiaTensorBox1;
-    float massBox1 = 3.0f;
-    collisionShapeBox1->computeLocalInertiaTensor(inertiaTensorBox1, massBox1);
-
-    // Create the rigid body associated with the box in the dynamics world
-    RigidBody* rigidBody = dynamicsWorld->createRigidBody(initTransform, massBox1,
-                                                          inertiaTensorBox1, collisionShapeBox1);
-
-    // Set the contact velocity restitution factor of the rigid body
-    rigidBody->setRestitution(0.5f);
-
-    // Create the box object (used for display)
-    boxes[0] = new Box(size, rigidBody);
-
-    // --- Create a second falling box with a size of 1.5m and weight of 4.5kg --- //
-
-    size = 1.5;
-
-    // Initial position and orientation of the box
-    Vector3 positionBox2(2.0, 4.0, 0.0);
-    Quaternion orientationBox2(1.0, 1.0, 0.5, 0.0);
-    Transform initTransform2(positionBox2, orientationBox2);
-
-    // Create a box collision shape for the box (used for collision detection)
-    collisionShapeBox2 = new BoxShape(Vector3(size/2.0f, size/2.0f, size/2.0f));
-
-    // Compute the inertia tensor using the collision shape
-    Matrix3x3 inertiaTensorBox2;
-    float massBox2 = 4.5f;
-    collisionShapeBox2->computeLocalInertiaTensor(inertiaTensorBox2, massBox2);
-
-    // Create the rigid body associated with the box in the dynamcis world
-    RigidBody* rigidBody2 = dynamicsWorld->createRigidBody(initTransform2, massBox2,
-                                                           inertiaTensorBox2, collisionShapeBox2);
-
-    // Set the contact velocity restitution factor of the rigid body
-    rigidBody2->setRestitution(0.5);
-
-    // Create the box object (used for display)
-    boxes[1] = new Box(size, rigidBody2);
-
-    // --- Create the rigid body corresponding to the floor --- //
-
-    // Initial position and orientation of the floor
-    Vector3 positionFloor(0.0, 0.0, 0.0);
-    Quaternion orientationFloor(0.0, 1.0, 0.0, 0.0);
-    Transform initTransformFloor(positionFloor, orientationFloor);
-
-    // Create a box collision shape for the floor (used for collision detection)
-    collisionShapeFloor = new BoxShape(Vector3(FLOOR_SIZE, FLOOR_THICKNESS, FLOOR_SIZE));
-
-    // Compute the inertia tensor of the floor using the collision shape
-    float massFloor = 100.0f;
-    rp3d::Matrix3x3 inertiaTensorFloor;
-    collisionShapeFloor->computeLocalInertiaTensor(inertiaTensorFloor, massFloor);
-
-    // Create the rigid body associated with the floor in the dynamcis world
-    floorRigidBody = dynamicsWorld->createRigidBody(initTransformFloor, massFloor,
-                                                    inertiaTensorFloor, collisionShapeFloor);
-
-    // The floor is a rigid body that cannot move
-    floorRigidBody->setIsMotionEnabled(false);
-
-    // Set the contact velocity restitution factor of the floor
-    floorRigidBody->setRestitution(0.5);
-
-    // Start the dynamics simulation
-    dynamicsWorld->start();
-}
-
-// Display function
-void display() {
-
-    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
-
-    // Display each falling box of the scene
-    for (int i=0; i<2; i++) {
-        boxes[i]->draw();
-    }
-
-    // Display the plane for the floor
-    glBegin(GL_POLYGON);
-        glNormal3f(0.0, 1.0, 0.0);
-        glVertex3f(-FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
-        glVertex3f(-FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
-        glVertex3f(FLOOR_SIZE/2, 0.0, FLOOR_SIZE/2);
-        glVertex3f(FLOOR_SIZE/2, 0.0, -FLOOR_SIZE/2);
-    glEnd();
-
-    glutSwapBuffers();
-}
-
-// Reshape function
-void reshape(int w, int h) {
-    float ratio = ((float)w / h);
-    glMatrixMode(GL_PROJECTION);
-    glLoadIdentity();
-    glViewport(0, 0, w, h);
-    gluPerspective(45, ratio,1,1000);
-    glMatrixMode(GL_MODELVIEW);
-    glLoadIdentity();
-    gluLookAt(20.0, 4.0, 20.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0);
-}
-
-// Clean the memory allocation
-void clean() {
-
-    // Destroy the rigid bodies from the dynamics world
-    dynamicsWorld->destroyRigidBody(boxes[0]->getRigidBodyPointer());
-    dynamicsWorld->destroyRigidBody(boxes[1]->getRigidBodyPointer());
-    dynamicsWorld->destroyRigidBody(floorRigidBody);
-
-    // Destroy the dynamics world
-    delete dynamicsWorld;
-
-    // Destroy the boxes
-    delete boxes[0];
-    delete boxes[1];
-
-    // Destroy the collision shapes
-    delete collisionShapeBox1;
-    delete collisionShapeBox2;
-    delete collisionShapeFloor;
-}

examples/joints/CMakeLists.txt

@@ -0,0 +1,34 @@
+# Minimum cmake version required
+cmake_minimum_required(VERSION 2.6)
+
+# Project configuration
+PROJECT(Joints)
+
+# Where to build the executables
+SET(EXECUTABLE_OUTPUT_PATH "${OUR_EXECUTABLE_OUTPUT_PATH}/joints")
+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 "${EXECUTABLE_OUTPUT_PATH}/shaders/")
+
+# Headers
+INCLUDE_DIRECTORIES("${OPENGLFRAMEWORK_DIR}/src/" "../common/")
+
+# Source files
+SET(JOINTS_SOURCES
+    Joints.cpp
+    Scene.cpp
+    Scene.h
+    "../common/Box.cpp"
+    "../common/Box.h"
+    "../common/Viewer.cpp"
+    "../common/Viewer.h"
+)
+
+# Create the executable
+ADD_EXECUTABLE(joints ${JOINTS_SOURCES})
+
+# Link with libraries
+TARGET_LINK_LIBRARIES(joints reactphysics3d openglframework)

examples/joints/Joints.cpp

@@ -0,0 +1,157 @@
+/********************************************************************************
+* 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 "Viewer.h"
+
+// Declarations
+void simulate();
+void display();
+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 keyboard(unsigned char key, int x, int y);
+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);
+    bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Joints", windowsSize, windowsPosition);
+    if (!initOK) return 1;
+
+    // Create the scene
+    scene = new Scene(viewer);
+
+    init();
+
+    // Glut Idle function that is continuously called
+    glutIdleFunc(simulate);
+    glutDisplayFunc(display);
+    glutReshapeFunc(reshape);
+    glutMouseFunc(mouseButton);
+    glutMotionFunc(mouseMotion);
+    glutKeyboardFunc(keyboard);
+#ifdef USE_FREEGLUT
+    glutCloseFunc(finish);
+#else
+    atexit(finish);
+#endif
+
+    // Glut main looop
+    glutMainLoop();
+
+    return 0;
+}
+
+// Simulate function
+void simulate() {
+
+    // Physics simulation
+    scene->simulate();
+
+    viewer->computeFPS();
+
+    // Ask GLUT to render the scene
+    glutPostRedisplay ();
+}
+
+// Initialization
+void init() {
+
+    // Define the background color (black)
+    glClearColor(0.0, 0.0, 0.0, 1.0);
+}
+
+// Reshape function
+void reshape(int newWidth, int newHeight) {
+    viewer->reshape(newWidth, newHeight);
+}
+
+// Called when a mouse button event occurs
+void mouseButton(int button, int state, int x, int y) {
+    viewer->mouseButtonEvent(button, state, x, y);
+}
+
+// Called when a mouse motion event occurs
+void mouseMotion(int x, int y) {
+    viewer->mouseMotionEvent(x, y);
+}
+
+// Called when the user hits a special key on the keyboard
+void keyboard(unsigned char key, int x, int y) {
+    switch(key) {
+
+        // Escape key
+        case 27:
+            #ifdef USE_FREEGLUT
+                glutLeaveMainLoop();
+            #endif
+            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
+void display() {
+
+    // Render the scene
+    scene->render();
+
+    // Display the FPS
+    viewer->displayGUI();
+
+    // Swap the buffers
+    glutSwapBuffers();
+
+    // Check the OpenGL errors
+    GlutViewer::checkOpenGLErrors();
+}
+
+

examples/joints/Scene.cpp

@@ -0,0 +1,404 @@
+/********************************************************************************
+* 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 <cmath>
+
+// Namespaces
+using namespace openglframework;
+
+// Constructor
+Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
+                               mPhongShader("shaders/phong.vert",
+                                            "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 radiusScene = 10.0f;
+    openglframework::Vector3 center(0, 5, 0);
+
+    // Set the center of the scene
+    mViewer->setScenePosition(center, radiusScene);
+
+    // Gravity vector in the dynamics world
+    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+
+    // Time step for the physics simulation
+    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->setNbIterationsVelocitySolver(15);
+
+    // Create the Ball-and-Socket joint
+    createBallAndSocketJoints();
+
+    // Create the Slider joint
+    createSliderJoint();
+
+    // Create the Hinge joint
+    createPropellerHingeJoint();
+
+    // Create the Fixed joint
+    createFixedJoints();
+
+    // Create the floor
+    createFloor();
+
+    // Start the simulation
+    startSimulation();
+}
+
+// Destructor
+Scene::~Scene() {
+
+    // Stop the physics simulation
+    stopSimulation();
+
+    // Destroy the shader
+    mPhongShader.destroy();
+
+    // Destroy the joints
+    mDynamicsWorld->destroyJoint(mSliderJoint);
+    mDynamicsWorld->destroyJoint(mPropellerHingeJoint);
+    mDynamicsWorld->destroyJoint(mFixedJoint1);
+    mDynamicsWorld->destroyJoint(mFixedJoint2);
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
+        mDynamicsWorld->destroyJoint(mBallAndSocketJoints[i]);
+    }
+
+    // Destroy all the rigid bodies of the scene
+    mDynamicsWorld->destroyRigidBody(mSliderJointBottomBox->getRigidBody());
+    mDynamicsWorld->destroyRigidBody(mSliderJointTopBox->getRigidBody());
+    mDynamicsWorld->destroyRigidBody(mPropellerBox->getRigidBody());
+    mDynamicsWorld->destroyRigidBody(mFixedJointBox1->getRigidBody());
+    mDynamicsWorld->destroyRigidBody(mFixedJointBox2->getRigidBody());
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
+        mDynamicsWorld->destroyRigidBody(mBallAndSocketJointChainBoxes[i]->getRigidBody());
+    }
+
+    delete mSliderJointBottomBox;
+    delete mSliderJointTopBox;
+    delete mPropellerBox;
+    delete mFixedJointBox1;
+    delete mFixedJointBox2;
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
+        delete mBallAndSocketJointChainBoxes[i];
+    }
+
+    // Destroy the floor
+    mDynamicsWorld->destroyRigidBody(mFloor->getRigidBody());
+    delete mFloor;
+
+    // Destroy the dynamics world
+    delete mDynamicsWorld;
+}
+
+// Take a step for the simulation
+void Scene::simulate() {
+
+    // If the physics simulation is running
+    if (mIsRunning) {
+
+        // Update the motor speed of the Slider Joint (to move up and down)
+        long double motorSpeed = 2 * cos(mDynamicsWorld->getPhysicsTime() * 1.5);
+        mSliderJoint->setMotorSpeed(rp3d::decimal(motorSpeed));
+
+        // Take a simulation step
+        mDynamicsWorld->update();
+
+        // Update the position and orientation of the boxes
+        mSliderJointBottomBox->updateTransform();
+        mSliderJointTopBox->updateTransform();
+        mPropellerBox->updateTransform();
+        mFixedJointBox1->updateTransform();
+        mFixedJointBox2->updateTransform();
+        for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
+            mBallAndSocketJointChainBoxes[i]->updateTransform();
+        }
+
+        // Update the position and orientation of the floor
+        mFloor->updateTransform();
+    }
+}
+
+// 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();
+
+    // Set the variables of the shader
+    mPhongShader.setVector3Uniform("light0PosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
+    mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
+    mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
+    const Color& diffCol = mLight0.getDiffuseColor();
+    const Color& specCol = mLight0.getSpecularColor();
+    mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
+    mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
+    mPhongShader.setFloatUniform("shininess", 60.0f);
+
+    // Render all the boxes
+    mSliderJointBottomBox->render(mPhongShader, worldToCameraMatrix);
+    mSliderJointTopBox->render(mPhongShader, worldToCameraMatrix);
+    mPropellerBox->render(mPhongShader, worldToCameraMatrix);
+    mFixedJointBox1->render(mPhongShader, worldToCameraMatrix);
+    mFixedJointBox2->render(mPhongShader, worldToCameraMatrix);
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
+        mBallAndSocketJointChainBoxes[i]->render(mPhongShader, worldToCameraMatrix);
+    }
+
+    // Render the floor
+    mFloor->render(mPhongShader, worldToCameraMatrix);
+
+    // Unbind the shader
+    mPhongShader.unbind();
+}
+
+// Create the boxes and joints for the Ball-and-Socket joint example
+void Scene::createBallAndSocketJoints() {
+
+    // --------------- Create the boxes --------------- //
+
+    openglframework::Vector3 positionBox(0, 15, 5);
+    openglframework::Vector3 boxDimension(1, 1, 1);
+    const float boxMass = 0.5f;
+
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES; i++) {
+
+        // Create a box and a corresponding rigid in the dynamics world
+        mBallAndSocketJointChainBoxes[i] = new Box(boxDimension, positionBox , boxMass,
+                                                   mDynamicsWorld);
+
+        // The fist box cannot move
+        if (i == 0) mBallAndSocketJointChainBoxes[i]->getRigidBody()->enableMotion(false);
+        else mBallAndSocketJointChainBoxes[i]->getRigidBody()->enableMotion(true);
+
+        // Add some angular velocity damping
+        mBallAndSocketJointChainBoxes[i]->getRigidBody()->setAngularDamping(rp3d::decimal(0.2));
+
+        // Change the material properties of the rigid body
+        rp3d::Material& material = mBallAndSocketJointChainBoxes[i]->getRigidBody()->getMaterial();
+        material.setBounciness(rp3d::decimal(0.4));
+
+        positionBox.y -= boxDimension.y + 0.5f;
+    }
+
+    // --------------- Create the joints --------------- //
+
+    for (int i=0; i<NB_BALLSOCKETJOINT_BOXES-1; i++) {
+
+        // Create the joint info object
+        rp3d::RigidBody* body1 = mBallAndSocketJointChainBoxes[i]->getRigidBody();
+        rp3d::RigidBody* body2 = mBallAndSocketJointChainBoxes[i+1]->getRigidBody();
+        rp3d::Vector3 body1Position = body1->getTransform().getPosition();
+        rp3d::Vector3 body2Position = body2->getTransform().getPosition();
+        const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body1Position + body2Position);
+        rp3d::BallAndSocketJointInfo jointInfo(body1, body2, anchorPointWorldSpace);
+
+        // Create the joint in the dynamics world
+        mBallAndSocketJoints[i] = dynamic_cast<rp3d::BallAndSocketJoint*>(
+                    mDynamicsWorld->createJoint(jointInfo));
+    }
+}
+
+/// Create the boxes and joint for the Slider joint example
+void Scene::createSliderJoint() {
+
+    // --------------- Create the first box --------------- //
+
+    // Position of the box
+    openglframework::Vector3 positionBox1(0, 2.1f, 0);
+
+    // Create a box and a corresponding rigid in the dynamics world
+    openglframework::Vector3 box1Dimension(2, 4, 2);
+    mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+
+    // The fist box cannot move
+    mSliderJointBottomBox->getRigidBody()->enableMotion(false);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material1 = mSliderJointBottomBox->getRigidBody()->getMaterial();
+    material1.setBounciness(0.4f);
+
+    // --------------- Create the second box --------------- //
+
+    // Position of the box
+    openglframework::Vector3 positionBox2(0, 4.2f, 0);
+
+    // Create a box and a corresponding rigid in the dynamics world
+    openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
+    mSliderJointTopBox = new Box(box2Dimension, positionBox2 , BOX_MASS, mDynamicsWorld);
+
+    // The second box is allowed to move
+    mSliderJointTopBox->getRigidBody()->enableMotion(true);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material2 = mSliderJointTopBox->getRigidBody()->getMaterial();
+    material2.setBounciness(0.4f);
+
+    // --------------- Create the joint --------------- //
+
+    // Create the joint info object
+    rp3d::RigidBody* body1 = mSliderJointBottomBox->getRigidBody();
+    rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
+    const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
+    const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
+    const rp3d::Vector3 anchorPointWorldSpace = rp3d::decimal(0.5) * (body2Position + body1Position);
+    const rp3d::Vector3 sliderAxisWorldSpace = (body2Position - body1Position);
+    rp3d::SliderJointInfo jointInfo(body1, body2, anchorPointWorldSpace, sliderAxisWorldSpace,
+                                    rp3d::decimal(-1.7), rp3d::decimal(1.7));
+    jointInfo.isMotorEnabled = true;
+    jointInfo.motorSpeed = 0.0;
+    jointInfo.maxMotorForce = 10000.0;
+    jointInfo.isCollisionEnabled = false;
+
+    // Create the joint in the dynamics world
+    mSliderJoint = dynamic_cast<rp3d::SliderJoint*>(mDynamicsWorld->createJoint(jointInfo));
+}
+
+/// Create the boxes and joint for the Hinge joint example
+void Scene::createPropellerHingeJoint() {
+
+    // --------------- Create the propeller box --------------- //
+
+    // Position of the box
+    openglframework::Vector3 positionBox1(0, 7, 0);
+
+    // Create a box and a corresponding rigid in the dynamics world
+    openglframework::Vector3 boxDimension(10, 1, 1);
+    mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+
+    // The fist box cannot move
+    mPropellerBox->getRigidBody()->enableMotion(true);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material = mPropellerBox->getRigidBody()->getMaterial();
+    material.setBounciness(rp3d::decimal(0.4));
+
+    // --------------- Create the Hinge joint --------------- //
+
+    // Create the joint info object
+    rp3d::RigidBody* body1 = mPropellerBox->getRigidBody();
+    rp3d::RigidBody* body2 = mSliderJointTopBox->getRigidBody();
+    const rp3d::Vector3& body1Position = body1->getTransform().getPosition();
+    const rp3d::Vector3& body2Position = body2->getTransform().getPosition();
+    const rp3d::Vector3 anchorPointWorldSpace = 0.5 * (body2Position + body1Position);
+    const rp3d::Vector3 hingeAxisWorldSpace(0, 1, 0);
+    rp3d::HingeJointInfo jointInfo(body1, body2, anchorPointWorldSpace, hingeAxisWorldSpace);
+    jointInfo.isMotorEnabled = true;
+    jointInfo.motorSpeed = - rp3d::decimal(0.5) * PI;
+    jointInfo.maxMotorTorque = rp3d::decimal(60.0);
+    jointInfo.isCollisionEnabled = false;
+
+    // Create the joint in the dynamics world
+    mPropellerHingeJoint = dynamic_cast<rp3d::HingeJoint*>(mDynamicsWorld->createJoint(jointInfo));
+}
+
+/// Create the boxes and joints for the fixed joints
+void Scene::createFixedJoints() {
+
+    // --------------- Create the first box --------------- //
+
+    // Position of the box
+    openglframework::Vector3 positionBox1(5, 7, 0);
+
+    // Create a box and a corresponding rigid in the dynamics world
+    openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
+    mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
+
+    // The fist box cannot move
+    mFixedJointBox1->getRigidBody()->enableMotion(true);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material1 = mFixedJointBox1->getRigidBody()->getMaterial();
+    material1.setBounciness(rp3d::decimal(0.4));
+
+    // --------------- Create the second box --------------- //
+
+    // Position of the box
+    openglframework::Vector3 positionBox2(-5, 7, 0);
+
+    // Create a box and a corresponding rigid in the dynamics world
+    mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
+
+    // The second box is allowed to move
+    mFixedJointBox2->getRigidBody()->enableMotion(true);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material2 = mFixedJointBox2->getRigidBody()->getMaterial();
+    material2.setBounciness(rp3d::decimal(0.4));
+
+    // --------------- Create the first fixed joint --------------- //
+
+    // Create the joint info object
+    rp3d::RigidBody* body1 = mFixedJointBox1->getRigidBody();
+    rp3d::RigidBody* propellerBody = mPropellerBox->getRigidBody();
+    const rp3d::Vector3 anchorPointWorldSpace1(5, 7, 0);
+    rp3d::FixedJointInfo jointInfo1(body1, propellerBody, anchorPointWorldSpace1);
+    jointInfo1.isCollisionEnabled = false;
+
+    // Create the joint in the dynamics world
+    mFixedJoint1 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo1));
+
+    // --------------- Create the second fixed joint --------------- //
+
+    // Create the joint info object
+    rp3d::RigidBody* body2 = mFixedJointBox2->getRigidBody();
+    const rp3d::Vector3 anchorPointWorldSpace2(-5, 7, 0);
+    rp3d::FixedJointInfo jointInfo2(body2, propellerBody, anchorPointWorldSpace2);
+    jointInfo2.isCollisionEnabled = false;
+
+    // Create the joint in the dynamics world
+    mFixedJoint2 = dynamic_cast<rp3d::FixedJoint*>(mDynamicsWorld->createJoint(jointInfo2));
+}
+
+
+// Create the floor
+void Scene::createFloor() {
+
+    // Create the floor
+    openglframework::Vector3 floorPosition(0, 0, 0);
+    mFloor = new Box(FLOOR_SIZE, floorPosition, FLOOR_MASS, mDynamicsWorld);
+
+    // The floor must be a non-moving rigid body
+    mFloor->getRigidBody()->enableMotion(false);
+
+    // Change the material properties of the rigid body
+    rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
+    material.setBounciness(rp3d::decimal(0.3));
+}

examples/joints/Scene.h

@@ -0,0 +1,171 @@
+/********************************************************************************
+* 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 "Box.h"
+
+// Constants
+const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
+const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);    // Floor dimensions in meters
+const float BOX_MASS = 1.0f;                                // Box mass in kilograms
+const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
+const int NB_BALLSOCKETJOINT_BOXES = 7;                     // Number of Ball-And-Socket chain boxes
+const int NB_HINGE_BOXES = 7;                               // Number of Hinge chain boxes
+
+// Class Scene
+class Scene {
+
+    private :
+
+        // -------------------- Attributes -------------------- //
+
+        /// Pointer to the viewer
+        openglframework::GlutViewer* mViewer;
+
+        /// Light 0
+        openglframework::Light mLight0;
+
+        /// Phong shader
+        openglframework::Shader mPhongShader;
+
+        /// Boxes of Ball-And-Socket joint chain
+        Box* mBallAndSocketJointChainBoxes[NB_BALLSOCKETJOINT_BOXES];
+
+        /// Boxes of the Hinge joint chain
+        Box* mHingeJointChainBoxes[NB_HINGE_BOXES];
+
+        /// Ball-And-Socket joints of the chain
+        rp3d::BallAndSocketJoint* mBallAndSocketJoints[NB_BALLSOCKETJOINT_BOXES-1];
+
+        /// Hinge joints of the chain
+        rp3d::HingeJoint* mHingeJoints[NB_HINGE_BOXES-1];
+
+        /// Bottom box of the Slider joint
+        Box* mSliderJointBottomBox;
+
+        /// Top box of the Slider joint
+        Box* mSliderJointTopBox;
+
+        /// Slider joint
+        rp3d::SliderJoint* mSliderJoint;
+
+        /// Propeller box
+        Box* mPropellerBox;
+
+        /// Box 1 of Fixed joint
+        Box* mFixedJointBox1;
+
+        /// Box 2 of Fixed joint
+        Box* mFixedJointBox2;
+
+        /// Hinge joint
+        rp3d::HingeJoint* mPropellerHingeJoint;
+
+        /// First Fixed joint
+        rp3d::FixedJoint* mFixedJoint1;
+
+        /// Second Fixed joint
+        rp3d::FixedJoint* mFixedJoint2;
+
+        /// Box for the floor
+        Box* mFloor;
+
+        /// Dynamics world used for the physics simulation
+        rp3d::DynamicsWorld* mDynamicsWorld;
+
+        /// True if the physics simulation is running
+        bool mIsRunning;
+
+        // -------------------- Methods -------------------- //
+
+        /// Create the boxes and joints for the Ball-and-Socket joint example
+        void createBallAndSocketJoints();
+
+        /// Create the boxes and joint for the Slider joint example
+        void createSliderJoint();
+
+        /// Create the boxes and joint for the Hinge joint example
+        void createPropellerHingeJoint();
+
+        /// Create the boxes and joint for the Fixed joint example
+        void createFixedJoints();
+
+        /// Create the floor
+        void createFloor();
+
+    public:
+
+        // -------------------- Methods -------------------- //
+
+        /// Constructor
+        Scene(openglframework::GlutViewer* viewer);
+
+        /// Destructor
+        ~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

src/body/Body.cpp

@@ -23,7 +23,7 @@
 *                                                                               *
 ********************************************************************************/
 
- // Libraries
+// Libraries
 #include "Body.h"
 #include "../collision/shapes/CollisionShape.h"
 
@@ -31,7 +31,9 @@
 using namespace reactphysics3d;
 
 // Constructor
-Body::Body(bodyindex id) : mID(id) {
+Body::Body(bodyindex id)
+     : mID(id), mIsAlreadyInIsland(false), mIsAllowedToSleep(true), mIsActive(true),
+       mIsSleeping(false), mSleepTime(0) {
 
 }
 

src/body/Body.h

@@ -23,8 +23,8 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef BODY_H
-#define BODY_H
+#ifndef REACTPHYSICS3D_BODY_H
+#define REACTPHYSICS3D_BODY_H
 
 // Libraries
 #include <stdexcept>
@@ -47,6 +47,21 @@ class Body {
         /// ID of the body
         bodyindex mID;
 
+        /// True if the body has already been added in an island (for sleeping technique)
+        bool mIsAlreadyInIsland;
+
+        /// True if the body is allowed to go to sleep for better efficiency
+        bool mIsAllowedToSleep;
+
+        /// True if the body is active
+        bool mIsActive;
+
+        /// True if the body is sleeping (for sleeping technique)
+        bool mIsSleeping;
+
+        /// Elapsed time since the body velocity was bellow the sleep velocity
+        decimal mSleepTime;
+
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -68,6 +83,21 @@ class Body {
         /// Return the id of the body
         bodyindex getID() const;
 
+        /// Return whether or not the body is allowed to sleep
+        bool isAllowedToSleep() const;
+
+        /// Set whether or not the body is allowed to go to sleep
+        void setIsAllowedToSleep(bool isAllowedToSleep);
+
+        /// Return whether or not the body is sleeping
+        bool isSleeping() const;
+
+        /// Return true if the body is active
+        bool isActive() const;
+
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
         /// Smaller than operator
         bool operator<(const Body& body2) const;
 
@@ -79,6 +109,10 @@ class Body {
 
         /// Not equal operator
         bool operator!=(const Body& body2) const;
+
+        // -------------------- Friendship -------------------- //
+
+        friend class DynamicsWorld;
 };
 
 // Return the id of the body
@@ -86,6 +120,43 @@ inline bodyindex Body::getID() const {
     return mID;
 }
 
+// Return whether or not the body is allowed to sleep
+inline bool Body::isAllowedToSleep() const {
+    return mIsAllowedToSleep;
+}
+
+// Set whether or not the body is allowed to go to sleep
+inline void Body::setIsAllowedToSleep(bool isAllowedToSleep) {
+    mIsAllowedToSleep = isAllowedToSleep;
+
+    if (!mIsAllowedToSleep) setIsSleeping(false);
+}
+
+// Return whether or not the body is sleeping
+inline bool Body::isSleeping() const {
+    return mIsSleeping;
+}
+
+// Return true if the body is active
+inline bool Body::isActive() const {
+    return mIsActive;
+}
+
+// Set the variable to know whether or not the body is sleeping
+inline void Body::setIsSleeping(bool isSleeping) {
+
+    if (isSleeping) {
+        mSleepTime = decimal(0.0);
+    }
+    else {
+        if (mIsSleeping) {
+            mSleepTime = decimal(0.0);
+        }
+    }
+
+    mIsSleeping = isSleeping;
+}
+
 // Smaller than operator
 inline bool Body::operator<(const Body& body2) const {
     return (mID < body2.mID);

src/body/CollisionBody.cpp

@@ -25,6 +25,7 @@
 
  // Libraries
 #include "CollisionBody.h"
+#include "../engine/ContactManifold.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
@@ -32,8 +33,8 @@ using namespace reactphysics3d;
 // Constructor
 CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisionShape,
                              bodyindex id)
-    : Body(id), mCollisionShape(collisionShape), mTransform(transform),
-      mIsActive(true), mHasMoved(false) {
+              : Body(id), mCollisionShape(collisionShape), mTransform(transform),
+                mHasMoved(false), mContactManifoldsList(NULL) {
 
     assert(collisionShape);
 
@@ -50,5 +51,24 @@ CollisionBody::CollisionBody(const Transform& transform, CollisionShape *collisi
 
 // Destructor
 CollisionBody::~CollisionBody() {
-
+    assert(mContactManifoldsList == NULL);
+}
+
+// Reset the contact manifold lists
+void CollisionBody::resetContactManifoldsList(MemoryAllocator& memoryAllocator) {
+
+    // Delete the linked list of contact manifolds of that body
+    ContactManifoldListElement* currentElement = mContactManifoldsList;
+    while (currentElement != NULL) {
+        ContactManifoldListElement* nextElement = currentElement->next;
+
+        // Delete the current element
+        currentElement->ContactManifoldListElement::~ContactManifoldListElement();
+        memoryAllocator.release(currentElement, sizeof(ContactManifoldListElement));
+
+        currentElement = nextElement;
+    }
+    mContactManifoldsList = NULL;
+
+    assert(mContactManifoldsList == NULL);
 }

src/body/CollisionBody.h

@@ -23,8 +23,8 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef COLLISION_BODY_H
-#define COLLISION_BODY_H
+#ifndef REACTPHYSICS3D_COLLISION_BODY_H
+#define REACTPHYSICS3D_COLLISION_BODY_H
 
 // Libraries
 #include <stdexcept>
@@ -33,11 +33,15 @@
 #include "../mathematics/Transform.h"
 #include "../collision/shapes/AABB.h"
 #include "../collision/shapes/CollisionShape.h"
+#include "../memory/MemoryAllocator.h"
 #include "../configuration.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
 
+// Class declarations
+struct ContactManifoldListElement;
+
 // Class CollisionBody
 /**
  * This class represents a body that is able to collide with others
@@ -61,9 +65,6 @@ class CollisionBody : public Body {
         /// Interpolation factor used for the state interpolation
         decimal mInterpolationFactor;
 
-        /// True if the body is active (not sleeping)
-        bool mIsActive;
-
         /// True if the body is able to move
         bool mIsMotionEnabled;
 
@@ -76,6 +77,9 @@ class CollisionBody : public Body {
         /// True if the body has moved during the last frame
         bool mHasMoved;
 
+        /// First element of the linked list of contact manifolds involving this body
+        ContactManifoldListElement* mContactManifoldsList;
+
         // -------------------- Methods -------------------- //
 
         /// Private copy-constructor
@@ -84,6 +88,15 @@ class CollisionBody : public Body {
         /// Private assignment operator
         CollisionBody& operator=(const CollisionBody& body);
 
+        /// Reset the contact manifold lists
+        void resetContactManifoldsList(MemoryAllocator& memoryAllocator);
+
+        /// Update the old transform with the current one.
+        void updateOldTransform();
+
+        /// Update the Axis-Aligned Bounding Box coordinates
+        void updateAABB();
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -94,24 +107,12 @@ class CollisionBody : public Body {
         /// Destructor
         virtual ~CollisionBody();
 
-        /// Return true if the body has moved during the last frame
-        bool getHasMoved() const;
-
-        /// Set the hasMoved variable (true if the body has moved during the last frame)
-        void setHasMoved(bool hasMoved);
-
         /// Return the collision shape
         CollisionShape* getCollisionShape() const;
 
         /// Set the collision shape
         void setCollisionShape(CollisionShape* collisionShape);
 
-        /// Return true for an active body
-        bool getIsActive() const;
-
-        /// Set the isActive variable
-        void setIsActive(bool isActive);
-
         /// Return the current position and orientation
         const Transform& getTransform() const;
 
@@ -127,35 +128,27 @@ class CollisionBody : public Body {
         /// Set the interpolation factor of the body
         void setInterpolationFactor(decimal factor);
 
-        /// Return if the rigid body can move
-        bool getIsMotionEnabled() const;
+        /// Return true if the rigid body is allowed to move
+        bool isMotionEnabled() const;
 
-        /// Set the value to true if the body can move
-        void setIsMotionEnabled(bool isMotionEnabled);
+        /// Enable/disable the motion of the body
+        void enableMotion(bool isMotionEnabled);
 
         /// Return true if the body can collide with others bodies
-        bool getIsCollisionEnabled() const;
+        bool isCollisionEnabled() const;
 
-        /// Set the isCollisionEnabled value
-        void setIsCollisionEnabled(bool isCollisionEnabled);
+        /// Enable/disable the collision with this body
+        void enableCollision(bool isCollisionEnabled);
 
-        /// Update the old transform with the current one.
-        void updateOldTransform();
+        /// Return the first element of the linked list of contact manifolds involving this body
+        const ContactManifoldListElement* getContactManifoldsLists() const;
 
-        /// Update the Axis-Aligned Bounding Box coordinates
-        void updateAABB();
+        // -------------------- Friendship -------------------- //
+
+        friend class DynamicsWorld;
+        friend class CollisionDetection;
 };
 
-// Return true if the body has moved during the last frame
-inline bool CollisionBody::getHasMoved() const {
-    return mHasMoved;
-}
-
-// Set the hasMoved variable (true if the body has moved during the last frame)
-inline void CollisionBody::setHasMoved(bool hasMoved) {
-    mHasMoved = hasMoved;
-}
-
 // Return the collision shape
 inline CollisionShape* CollisionBody::getCollisionShape() const {
     assert(mCollisionShape);
@@ -168,16 +161,6 @@ inline void CollisionBody::setCollisionShape(CollisionShape* collisionShape) {
     mCollisionShape = collisionShape;
 }
 
-// Return true if the body is active
-inline bool CollisionBody::getIsActive() const {
-    return mIsActive;
-}
-
-// Set the isActive variable
-inline void CollisionBody::setIsActive(bool isActive) {
-    mIsActive = isActive;
-}
-
 // Return the interpolated transform for rendering
 inline Transform CollisionBody::getInterpolatedTransform() const {
     return Transform::interpolateTransforms(mOldTransform, mTransform, mInterpolationFactor);
@@ -189,13 +172,13 @@ inline void CollisionBody::setInterpolationFactor(decimal factor) {
     mInterpolationFactor = factor;
 }
 
-// Return if the rigid body can move
-inline bool CollisionBody::getIsMotionEnabled() const {
+// Return true if the rigid body is allowed to move
+inline bool CollisionBody::isMotionEnabled() const {
     return mIsMotionEnabled;
 }
 
-// Set the value to true if the body can move
-inline void CollisionBody::setIsMotionEnabled(bool isMotionEnabled) {
+// Enable/disable the motion of the body
+inline void CollisionBody::enableMotion(bool isMotionEnabled) {
     mIsMotionEnabled = isMotionEnabled;
 }
 
@@ -208,7 +191,7 @@ inline const Transform& CollisionBody::getTransform() const {
 inline void CollisionBody::setTransform(const Transform& transform) {
 
     // Check if the body has moved
-    if (this->mTransform != transform) {
+    if (mTransform != transform) {
         mHasMoved = true;
     }
 
@@ -221,12 +204,12 @@ inline const AABB& CollisionBody::getAABB() const {
 }
 
  // Return true if the body can collide with others bodies
-inline bool CollisionBody::getIsCollisionEnabled() const {
+inline bool CollisionBody::isCollisionEnabled() const {
     return mIsCollisionEnabled;
 }
 
-// Set the isCollisionEnabled value
-inline void CollisionBody::setIsCollisionEnabled(bool isCollisionEnabled) {
+// Enable/disable the collision with this body
+inline void CollisionBody::enableCollision(bool isCollisionEnabled) {
     mIsCollisionEnabled = isCollisionEnabled;
 }
 
@@ -239,12 +222,15 @@ inline void CollisionBody::updateOldTransform() {
 // Update the rigid body in order to reflect a change in the body state
 inline void CollisionBody::updateAABB() {
 
-    // TODO : An AABB should not be updated every frame but only if the body has moved
-
     // Update the AABB
     mCollisionShape->updateAABB(mAabb, mTransform);
 }
 
+// Return the first element of the linked list of contact manifolds involving this body
+inline const ContactManifoldListElement* CollisionBody::getContactManifoldsLists() const {
+    return mContactManifoldsList;
+}
+
 }
 
  #endif

src/body/RigidBody.cpp

@@ -25,25 +25,54 @@
 
 // Libraries
 #include "RigidBody.h"
+#include "constraint/Joint.h"
 #include "../collision/shapes/CollisionShape.h"
 
 // We want to use the ReactPhysics3D namespace
 using namespace reactphysics3d;
 
- // Constructor
- RigidBody::RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
+// Constructor
+RigidBody::RigidBody(const Transform& transform, decimal mass, const Matrix3x3& inertiaTensorLocal,
                       CollisionShape *collisionShape, bodyindex id)
            : CollisionBody(transform, collisionShape, id), mInertiaTensorLocal(inertiaTensorLocal),
              mMass(mass), mInertiaTensorLocalInverse(inertiaTensorLocal.getInverse()),
-             mMassInverse(decimal(1.0) / mass), mFrictionCoefficient(DEFAULT_FRICTION_COEFFICIENT) {
-
-    mRestitution = decimal(1.0);
+             mMassInverse(decimal(1.0) / mass), mIsGravityEnabled(true),
+             mLinearDamping(decimal(0.0)), mAngularDamping(decimal(0.0)), mJointsList(NULL) {
 
     assert(collisionShape);
 }
 
 // Destructor
 RigidBody::~RigidBody() {
-
+    assert(mJointsList == NULL);
 }
 
+// Remove a joint from the joints list
+void RigidBody::removeJointFromJointsList(MemoryAllocator& memoryAllocator, const Joint* joint) {
+
+    assert(joint != NULL);
+    assert(mJointsList != NULL);
+
+    // Remove the joint from the linked list of the joints of the first body
+    if (mJointsList->joint == joint) {   // If the first element is the one to remove
+        JointListElement* elementToRemove = mJointsList;
+        mJointsList = elementToRemove->next;
+        elementToRemove->JointListElement::~JointListElement();
+        memoryAllocator.release(elementToRemove, sizeof(JointListElement));
+    }
+    else {  // If the element to remove is not the first one in the list
+        JointListElement* currentElement = mJointsList;
+        while (currentElement->next != NULL) {
+            if (currentElement->next->joint == joint) {
+                JointListElement* elementToRemove = currentElement->next;
+                currentElement->next = elementToRemove->next;
+                elementToRemove->JointListElement::~JointListElement();
+                memoryAllocator.release(elementToRemove, sizeof(JointListElement));
+                break;
+            }
+            currentElement = currentElement->next;
+        }
+    }
+}
+
+

src/body/RigidBody.h

@@ -23,17 +23,23 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef RIGID_BODY_H
-#define RIGID_BODY_H
+#ifndef REACTPHYSICS3D_RIGID_BODY_H
+#define REACTPHYSICS3D_RIGID_BODY_H
 
 // Libraries
 #include <cassert>
 #include "CollisionBody.h"
+#include "../engine/Material.h"
 #include "../mathematics/mathematics.h"
+#include "../memory/MemoryAllocator.h"
 
 /// Namespace reactphysics3d
 namespace reactphysics3d {
 
+// Class declarations
+struct JointListElement;
+class Joint;
+
 // Class RigidBody
 /**
  * This class represents a rigid body of the physics
@@ -73,11 +79,20 @@ class RigidBody : public CollisionBody {
         /// Inverse of the mass of the body
         decimal mMassInverse;
 
-        /// Coefficient of restitution (between 0 and 1) where 1 is for a very bouncy body
-        decimal mRestitution;
+        /// True if the gravity needs to be applied to this rigid body
+        bool mIsGravityEnabled;
 
-        /// Friction coefficient
-        decimal mFrictionCoefficient;
+        /// Material properties of the rigid body
+        Material mMaterial;
+
+        /// Linear velocity damping factor
+        decimal mLinearDamping;
+
+        /// Angular velocity damping factor
+        decimal mAngularDamping;
+
+        /// First element of the linked list of joints involving this body
+        JointListElement* mJointsList;        
 
         // -------------------- Methods -------------------- //
 
@@ -87,6 +102,12 @@ class RigidBody : public CollisionBody {
         /// Private assignment operator
         RigidBody& operator=(const RigidBody& body);
 
+        /// Remove a joint from the joints list
+        void removeJointFromJointsList(MemoryAllocator& memoryAllocator, const Joint* joint);
+
+        /// Set the inverse of the mass
+        void setMassInverse(decimal massInverse);
+
     public :
 
         // -------------------- Methods -------------------- //
@@ -116,26 +137,11 @@ class RigidBody : public CollisionBody {
         /// Set the angular velocity
         void setAngularVelocity(const Vector3& angularVelocity);
 
-        /// Set the inverse of the mass
-        void setMassInverse(decimal massInverse);
-
-        /// Return the current external force of the body
-        Vector3 getExternalForce() const;
-
-        /// Set the current external force on the body
-        void setExternalForce(const Vector3& force);
-
-        /// Return the current external torque of the body
-        Vector3 getExternalTorque() const;
-
-        /// Set the current external torque of the body
-        void setExternalTorque(const Vector3& torque);
-
         /// Return the inverse of the mass of the body
         decimal getMassInverse() const;
 
         /// Return the local inertia tensor of the body (in body coordinates)
-        Matrix3x3 getInertiaTensorLocal() const;
+        const Matrix3x3& getInertiaTensorLocal() const;
 
         /// Set the local inertia tensor of the body (in body coordinates)
         void setInertiaTensorLocal(const Matrix3x3& inertiaTensorLocal);
@@ -148,18 +154,49 @@ class RigidBody : public CollisionBody {
 
         /// Return the inverse of the inertia tensor in world coordinates.
         Matrix3x3 getInertiaTensorInverseWorld() const;
-        
-        /// Get the restitution coefficient
-        decimal getRestitution() const;
 
-        /// Set the restitution coefficient
-        void setRestitution(decimal restitution);
+        /// Return true if the gravity needs to be applied to this rigid body
+        bool isGravityEnabled() const;
 
-        /// Get the friction coefficient
-        decimal getFrictionCoefficient() const;
+        /// Set the variable to know if the gravity is applied to this rigid body
+        void enableGravity(bool isEnabled);
 
-        /// Set the friction coefficient
-        void setFrictionCoefficient(decimal frictionCoefficient);
+        /// Return a reference to the material properties of the rigid body
+        Material& getMaterial();
+
+        /// Set a new material for this rigid body
+        void setMaterial(const Material& material);
+
+        /// Return the linear velocity damping factor
+        decimal getLinearDamping() const;
+
+        /// Set the linear damping factor
+        void setLinearDamping(decimal linearDamping);
+
+        /// Return the angular velocity damping factor
+        decimal getAngularDamping() const;
+
+        /// Set the angular damping factor
+        void setAngularDamping(decimal angularDamping);
+
+        /// Return the first element of the linked list of joints involving this body
+        const JointListElement* getJointsList() const;
+
+        /// Set the variable to know whether or not the body is sleeping
+        virtual void setIsSleeping(bool isSleeping);
+
+        /// Apply an external force to the body at its gravity center.
+        void applyForceToCenter(const Vector3& force);
+
+        /// Apply an external force to the body at a given point (in world-space coordinates).
+        void applyForce(const Vector3& force, const Vector3& point);
+
+        /// Apply an external torque to the body.
+        void applyTorque(const Vector3& torque);
+
+        // -------------------- Friendship -------------------- //
+
+        friend class DynamicsWorld;
 };
 
 // Method that return the mass of the body
@@ -196,33 +233,13 @@ inline Matrix3x3 RigidBody::getInertiaTensorLocalInverse() const {
     return mInertiaTensorLocalInverse;
 }
 
-// Return the external force on the body
-inline Vector3 RigidBody::getExternalForce() const {
-    return mExternalForce;
-}
-
-// Set the external force on the body
-inline void RigidBody::setExternalForce(const Vector3& force) {
-    mExternalForce = force;
-}
-
-// Return the current external torque on the body
-inline Vector3 RigidBody::getExternalTorque() const {
-    return mExternalTorque;
-}
-
- // Set the current external torque on the body
-inline void RigidBody::setExternalTorque(const Vector3& torque) {
-    mExternalTorque = torque;
-}
-
 // Return the inverse of the mass of the body
 inline decimal RigidBody::getMassInverse() const {
     return mMassInverse;
 }
 
 // Return the local inertia tensor of the body (in body coordinates)
-inline Matrix3x3 RigidBody::getInertiaTensorLocal() const {
+inline const Matrix3x3& RigidBody::getInertiaTensorLocal() const {
     return mInertiaTensorLocal;
 }
 
@@ -267,25 +284,120 @@ inline void RigidBody::setLinearVelocity(const Vector3& linearVelocity) {
     }
 }
 
-// Get the restitution coeffficient of the rigid body
-inline decimal RigidBody::getRestitution() const {
-    return mRestitution;
+// Return true if the gravity needs to be applied to this rigid body
+inline bool RigidBody::isGravityEnabled() const {
+    return mIsGravityEnabled;
 }
 
-// Set the restitution coefficient
-inline void RigidBody::setRestitution(decimal restitution) {
-    assert(restitution >= 0.0 && restitution <= 1.0);
-    mRestitution = restitution;
+// Set the variable to know if the gravity is applied to this rigid body
+inline void RigidBody::enableGravity(bool isEnabled) {
+    mIsGravityEnabled = isEnabled;
 }
 
-// Get the friction coefficient
-inline decimal RigidBody::getFrictionCoefficient() const {
-    return mFrictionCoefficient;
+// Return a reference to the material properties of the rigid body
+inline Material& RigidBody::getMaterial() {
+    return mMaterial;
 }
 
-// Set the friction coefficient
-inline void RigidBody::setFrictionCoefficient(decimal frictionCoefficient) {
-    mFrictionCoefficient = frictionCoefficient;
+// Set a new material for this rigid body
+inline void RigidBody::setMaterial(const Material& material) {
+    mMaterial = material;
+}
+
+// Return the linear velocity damping factor
+inline decimal RigidBody::getLinearDamping() const {
+    return mLinearDamping;
+}
+
+// Set the linear damping factor
+inline void RigidBody::setLinearDamping(decimal linearDamping) {
+    assert(linearDamping >= decimal(0.0));
+    mLinearDamping = linearDamping;
+}
+
+// Return the angular velocity damping factor
+inline decimal RigidBody::getAngularDamping() const {
+    return mAngularDamping;
+}
+
+// Set the angular damping factor
+inline void RigidBody::setAngularDamping(decimal angularDamping) {
+    assert(angularDamping >= decimal(0.0));
+    mAngularDamping = angularDamping;
+}
+
+// Return the first element of the linked list of joints involving this body
+inline const JointListElement* RigidBody::getJointsList() const {
+    return mJointsList;
+}
+
+// Set the variable to know whether or not the body is sleeping
+inline void RigidBody::setIsSleeping(bool isSleeping) {
+
+    if (isSleeping) {
+        mLinearVelocity.setToZero();
+        mAngularVelocity.setToZero();
+        mExternalForce.setToZero();
+        mExternalTorque.setToZero();
+    }
+
+    Body::setIsSleeping(isSleeping);
+}
+
+// Apply an external force to the body at its gravity center.
+/// If the body is sleeping, calling this method will wake it up. Note that the
+/// force will we added to the sum of the applied forces and that this sum will be
+/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+inline void RigidBody::applyForceToCenter(const Vector3& force) {
+    // If it is a static body, do not apply any force
+    if (!mIsMotionEnabled) return;
+
+    // Awake the body if it was sleeping
+    if (mIsSleeping) {
+        setIsSleeping(false);
+    }
+
+    // Add the force
+    mExternalForce += force;
+}
+
+// Apply an external force to the body at a given point (in world-space coordinates).
+/// If the point is not at the center of gravity of the body, it will also
+/// generate some torque and therefore, change the angular velocity of the body.
+/// If the body is sleeping, calling this method will wake it up. Note that the
+/// force will we added to the sum of the applied forces and that this sum will be
+/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+inline void RigidBody::applyForce(const Vector3& force, const Vector3& point) {
+
+    // If it is a static body, do not apply any force
+    if (!mIsMotionEnabled) return;
+
+    // Awake the body if it was sleeping
+    if (mIsSleeping) {
+        setIsSleeping(false);
+    }
+
+    // Add the force and torque
+    mExternalForce += force;
+    mExternalTorque += (point - mTransform.getPosition()).cross(force);
+}
+
+// Apply an external torque to the body.
+/// If the body is sleeping, calling this method will wake it up. Note that the
+/// force will we added to the sum of the applied torques and that this sum will be
+/// reset to zero at the end of each call of the DynamicsWorld::update() method.
+inline void RigidBody::applyTorque(const Vector3& torque) {
+
+    // If it is a static body, do not apply any force
+    if (!mIsMotionEnabled) return;
+
+    // Awake the body if it was sleeping
+    if (mIsSleeping) {
+        setIsSleeping(false);
+    }
+
+    // Add the torque
+    mExternalTorque += torque;
 }
 
 }

src/collision/BroadPhasePair.h

@@ -23,8 +23,8 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef BROAD_PHASE_PAIR_H
-#define BROAD_PHASE_PAIR_H
+#ifndef REACTPHYSICS3D_BROAD_PHASE_PAIR_H
+#define REACTPHYSICS3D_BROAD_PHASE_PAIR_H
 
 // Libraries
 #include "../body/CollisionBody.h"
@@ -60,6 +60,9 @@ struct BroadPhasePair {
         /// Destructor
         ~BroadPhasePair();
 
+        /// Return the pair of bodies index
+        static bodyindexpair computeBodiesIndexPair(CollisionBody* body1, CollisionBody* body2);
+
         /// Return the pair of bodies index
         bodyindexpair getBodiesIndexPair() const;
 
@@ -77,16 +80,22 @@ struct BroadPhasePair {
 };
 
 // Return the pair of bodies index
-inline bodyindexpair BroadPhasePair::getBodiesIndexPair() const {
-
+inline bodyindexpair BroadPhasePair::computeBodiesIndexPair(CollisionBody* body1,
+                                                            CollisionBody* body2) {
     // Construct the pair of body index
-   bodyindexpair indexPair = body1->getID() < body2->getID() ?
+    bodyindexpair indexPair = body1->getID() < body2->getID() ?
                                  std::make_pair(body1->getID(), body2->getID()) :
                                  std::make_pair(body2->getID(), body1->getID());
     assert(indexPair.first != indexPair.second);
     return indexPair;
 }
 
+// Return the pair of bodies index
+inline bodyindexpair BroadPhasePair::getBodiesIndexPair() const {
+
+    return computeBodiesIndexPair(body1, body2);
+}
+
 // Smaller than operator
 inline bool BroadPhasePair::operator<(const BroadPhasePair& broadPhasePair2) const {
     return (body1 < broadPhasePair2.body1 ? true : (body2 < broadPhasePair2.body2));

src/collision/CollisionDetection.cpp

@@ -43,9 +43,10 @@ using namespace reactphysics3d;
 using namespace std;
 
 // Constructor
-CollisionDetection::CollisionDetection(CollisionWorld* world)
-                   : mWorld(world), mNarrowPhaseGJKAlgorithm(mMemoryPoolContactInfos),
-                     mNarrowPhaseSphereVsSphereAlgorithm(mMemoryPoolContactInfos) {
+CollisionDetection::CollisionDetection(CollisionWorld* world, MemoryAllocator& memoryAllocator)
+                   : mWorld(world), mMemoryAllocator(memoryAllocator),
+                     mNarrowPhaseGJKAlgorithm(memoryAllocator),
+                     mNarrowPhaseSphereVsSphereAlgorithm(memoryAllocator) {
 
     // Create the broad-phase algorithm that will be used (Sweep and Prune with AABB)
     mBroadPhaseAlgorithm = new SweepAndPruneAlgorithm(*this);
@@ -61,6 +62,8 @@ CollisionDetection::~CollisionDetection() {
 
 // Compute the collision detection
 void CollisionDetection::computeCollisionDetection() {
+
+    PROFILE("CollisionDetection::computeCollisionDetection()");
 	    
     // Compute the broad-phase collision detection
     computeBroadPhase();
@@ -72,12 +75,14 @@ void CollisionDetection::computeCollisionDetection() {
 // Compute the broad-phase collision detection
 void CollisionDetection::computeBroadPhase() {
 
+    PROFILE("CollisionDetection::computeBroadPhase()");
+
     // Notify the broad-phase algorithm about the bodies that have moved since last frame
     for (set<CollisionBody*>::iterator it = mWorld->getBodiesBeginIterator();
          it != mWorld->getBodiesEndIterator(); it++) {
 
         // If the body has moved
-        if ((*it)->getHasMoved()) {
+        if ((*it)->mHasMoved) {
 
             // Notify the broad-phase that the body has moved
             mBroadPhaseAlgorithm->updateObject(*it, (*it)->getAABB());
@@ -87,11 +92,14 @@ void CollisionDetection::computeBroadPhase() {
 
 // Compute the narrow-phase collision detection
 void CollisionDetection::computeNarrowPhase() {
+
+    PROFILE("CollisionDetection::computeNarrowPhase()");
+
     map<bodyindexpair, BroadPhasePair*>::iterator it;
     
     // For each possible collision pair of bodies
     for (it = mOverlappingPairs.begin(); it != mOverlappingPairs.end(); it++) {
-        ContactInfo* contactInfo = NULL;
+        ContactPointInfo* contactInfo = NULL;
 
         BroadPhasePair* pair = (*it).second;
         assert(pair != NULL);
@@ -101,6 +109,12 @@ void CollisionDetection::computeNarrowPhase() {
         
         // Update the contact cache of the overlapping pair
         mWorld->updateOverlappingPair(pair);
+
+        // Check if the two bodies are allowed to collide, otherwise, we do not test for collision
+        if (mNoCollisionPairs.count(pair->getBodiesIndexPair()) > 0) continue;
+
+        // Check if the two bodies are sleeping, if so, we do no test collision between them
+        if (body1->isSleeping() && body2->isSleeping()) continue;
         
         // Select the narrow phase algorithm to use according to the two collision shapes
         NarrowPhaseAlgorithm& narrowPhaseAlgorithm = SelectNarrowPhaseAlgorithm(
@@ -117,12 +131,18 @@ void CollisionDetection::computeNarrowPhase() {
                                                contactInfo)) {
             assert(contactInfo != NULL);
 
+            // Set the bodies of the contact
+            contactInfo->body1 = dynamic_cast<RigidBody*>(body1);
+            contactInfo->body2 = dynamic_cast<RigidBody*>(body2);
+            assert(contactInfo->body1 != NULL);
+            assert(contactInfo->body2 != NULL);
+
             // Notify the world about the new narrow-phase contact
             mWorld->notifyNewContact(pair, contactInfo);
 
-            // Delete and remove the contact info from the memory pool
-            contactInfo->ContactInfo::~ContactInfo();
-            mMemoryPoolContactInfos.freeObject(contactInfo);
+            // Delete and remove the contact info from the memory allocator
+            contactInfo->ContactPointInfo::~ContactPointInfo();
+            mMemoryAllocator.release(contactInfo, sizeof(ContactPointInfo));
         }
     }
 }
@@ -135,7 +155,7 @@ void CollisionDetection::broadPhaseNotifyAddedOverlappingPair(BodyPair* addedPai
     bodyindexpair indexPair = addedPair->getBodiesIndexPair();
 
     // Create the corresponding broad-phase pair object
-    BroadPhasePair* broadPhasePair = new (mMemoryPoolBroadPhasePairs.allocateObject())
+    BroadPhasePair* broadPhasePair = new (mMemoryAllocator.allocate(sizeof(BroadPhasePair)))
                                              BroadPhasePair(addedPair->body1, addedPair->body2);
     assert(broadPhasePair != NULL);
 
@@ -162,8 +182,8 @@ void CollisionDetection::broadPhaseNotifyRemovedOverlappingPair(BodyPair* remove
     // Notify the world about the removed broad-phase pair
     mWorld->notifyRemovedOverlappingPair(broadPhasePair);
 
-    // Remove the overlapping pair from the memory pool
+    // Remove the overlapping pair from the memory allocator
     broadPhasePair->BroadPhasePair::~BroadPhasePair();
-    mMemoryPoolBroadPhasePairs.freeObject(broadPhasePair);
+    mMemoryAllocator.release(broadPhasePair, sizeof(BroadPhasePair));
     mOverlappingPairs.erase(indexPair);
 }

src/collision/CollisionDetection.h

@@ -23,23 +23,21 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef COLLISION_DETECTION_H
-#define COLLISION_DETECTION_H
+#ifndef REACTPHYSICS3D_COLLISION_DETECTION_H
+#define REACTPHYSICS3D_COLLISION_DETECTION_H
 
 // Libraries
 #include "../body/CollisionBody.h"
 #include "broadphase/BroadPhaseAlgorithm.h"
 #include "BroadPhasePair.h"
-#include "../memory/MemoryPool.h"
 #include "narrowphase/GJK/GJKAlgorithm.h"
 #include "narrowphase/SphereVsSphereAlgorithm.h"
-#include "ContactInfo.h"
+#include "../memory/MemoryAllocator.h"
+#include "../constraint/ContactPoint.h"
 #include <vector>
 #include <map>
 #include <set>
 #include <utility>
-#include <iostream>     // TODO : Delete this
-
 
 /// ReactPhysics3D namespace
 namespace reactphysics3d {
@@ -64,6 +62,9 @@ class CollisionDetection {
         /// Pointer to the physics world
         CollisionWorld* mWorld;
 
+        /// Memory allocator
+        MemoryAllocator& mMemoryAllocator;
+
         /// Broad-phase overlapping pairs
         std::map<bodyindexpair, BroadPhasePair*> mOverlappingPairs;
 
@@ -76,11 +77,8 @@ class CollisionDetection {
         /// Narrow-phase Sphere vs Sphere algorithm
         SphereVsSphereAlgorithm mNarrowPhaseSphereVsSphereAlgorithm;
 
-        /// Memory pool for contactinfo
-        MemoryPool<ContactInfo> mMemoryPoolContactInfos;
-
-        /// Memory pool for broad-phase pairs
-        MemoryPool<BroadPhasePair> mMemoryPoolBroadPhasePairs;
+        /// Set of pair of bodies that cannot collide between each other
+        std::set<bodyindexpair> mNoCollisionPairs;
 
         // -------------------- Methods -------------------- //
 
@@ -105,7 +103,7 @@ class CollisionDetection {
         // -------------------- Methods -------------------- //
 
         /// Constructor
-        CollisionDetection(CollisionWorld* world);
+        CollisionDetection(CollisionWorld* world, MemoryAllocator& memoryAllocator);
 
         /// Destructor
         ~CollisionDetection();
@@ -116,6 +114,12 @@ class CollisionDetection {
         /// Remove a body from the collision detection
         void removeBody(CollisionBody* body);
 
+        /// Add a pair of bodies that cannot collide with each other
+        void addNoCollisionPair(CollisionBody* body1, CollisionBody* body2);
+
+        /// Remove a pair of bodies that cannot collide with each other
+        void removeNoCollisionPair(CollisionBody *body1, CollisionBody *body2);
+
         /// Compute the collision detection
         void computeCollisionDetection();
 
@@ -151,7 +155,19 @@ inline void CollisionDetection::removeBody(CollisionBody* body) {
     
     // Remove the body from the broad-phase
     mBroadPhaseAlgorithm->removeObject(body);
-}                                                    
+}
+
+// Add a pair of bodies that cannot collide with each other
+inline void CollisionDetection::addNoCollisionPair(CollisionBody* body1,
+                                                   CollisionBody* body2) {
+    mNoCollisionPairs.insert(BroadPhasePair::computeBodiesIndexPair(body1, body2));
+}
+
+// Remove a pair of bodies that cannot collide with each other
+inline void CollisionDetection::removeNoCollisionPair(CollisionBody* body1,
+                                                      CollisionBody* body2) {
+    mNoCollisionPairs.erase(BroadPhasePair::computeBodiesIndexPair(body1, body2));
+}
 
 }
 

src/collision/broadphase/BroadPhaseAlgorithm.h

@@ -23,8 +23,8 @@
 *                                                                               *
 ********************************************************************************/
 
-#ifndef BROAD_PHASE_ALGORITHM_H
-#define BROAD_PHASE_ALGORITHM_H
+#ifndef REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H
+#define REACTPHYSICS3D_BROAD_PHASE_ALGORITHM_H
 
 // Libraries
 #include <vector>