Modification of the examples

examples/CMakeLists.txt

@@ -2,6 +2,6 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 
 add_subdirectory(common/)
-add_subdirectory(fallingcubes/)
+add_subdirectory(cubes/)
 add_subdirectory(joints/)
-add_subdirectory(convexmesh/)
+add_subdirectory(collisionshapes/)

examples/common/Box.cpp

@@ -34,14 +34,14 @@ openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
 openglframework::VertexBufferObject Box::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
 bool Box::areVBOsCreated = false;
 VertexData Box::mCubeVertices[8] = {
- {openglframework::Vector3(1,1,1),openglframework::Vector3(1,1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,1,1),openglframework::Vector3(1,1,1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,1,1),openglframework::Vector3(-1,1,1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,-1,1),openglframework::Vector3(-1,-1,1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,-1,1),openglframework::Vector3(1,-1,1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(1,-1,-1),openglframework::Vector3(1,-1,-1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,-1,-1),openglframework::Vector3(-1,-1,-1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(0,0,1,1)},
+ {openglframework::Vector3(-1,1,-1),openglframework::Vector3(-1,1,-1),openglframework::Color(1,0,0,1)},
- {openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(0,0,1,1)}
+ {openglframework::Vector3(1,1,-1),openglframework::Vector3(1,1,-1),openglframework::Color(1,0,0,1)}
 };
 GLuint Box::mCubeIndices[36] = { 0, 1, 2,
                                  2, 3, 0,
@@ -59,7 +59,7 @@ GLuint Box::mCubeIndices[36] = { 0, 1, 2,
 // Constructor
 Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
          float mass, reactphysics3d::DynamicsWorld* dynamicsWorld)
-     : openglframework::Object3D() {
+    : openglframework::Object3D(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
 
     // Initialize the size of the box
     mSize[0] = size.x * 0.5f;
@@ -77,7 +77,7 @@ Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &p
 
     // 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 destroy right after calling Dynamics::createRigidBody()
+    // 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
@@ -121,6 +121,10 @@ void Box::render(openglframework::Shader& shader,
                        localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
     shader.setMatrix3x3Uniform("normalMatrix", normalMatrix);
 
+    // TODO : REMOVE THIS
+    openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
+    shader.setVector4Uniform("vertexColor", color);
+
     // Bind the vertices VBO
     mVBOVertices.bind();
 
@@ -153,6 +157,11 @@ void Box::render(openglframework::Shader& shader,
     shader.unbind();
 }
 
+// Set the color of the box
+void Box::setColor(openglframework::Color& color) {
+    mColor = color;
+}
+
 // Update the transform matrix of the box
 void Box::updateTransform() {
 

examples/common/Box.h

@@ -74,6 +74,9 @@ class Box : public openglframework::Object3D {
         /// True if the VBOs have already been created
         static bool areVBOsCreated;
 
+        // TODO : REMOVE THIS
+        openglframework::Color mColor;
+
         // -------------------- Methods -------------------- //
 
         /// Create a Vertex Buffer Object to render to box with OpenGL
@@ -98,6 +101,9 @@ class Box : public openglframework::Object3D {
 
         /// 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(openglframework::Color& color);
 };
 
 // Return a pointer to the rigid body of the box

examples/common/Capsule.cpp

@@ -40,16 +40,16 @@ Capsule::Capsule(float radius, float height, const openglframework::Vector3 &pos
 
     // Compute the scaling matrix
     mScalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
-                                              0, (mHeight + 2.0 * mRadius) / 3.0, 0,0,
+                                              0, (mHeight + 2.0f * mRadius) / 3.0f, 0,0,
                                               0, 0, mRadius, 0,
-                                              0, 0, 0, 1);
+                                              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 destroy right after calling Dynamics::createRigidBody()
+    // 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

examples/common/Cone.cpp

@@ -49,7 +49,7 @@ Cone::Cone(float radius, float height, const openglframework::Vector3 &position,
 
     // Create the collision shape for the rigid body (cone shape)
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    // 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

examples/common/Cylinder.cpp

@@ -49,7 +49,7 @@ Cylinder::Cylinder(float radius, float height, const openglframework::Vector3 &p
 
     // Create the collision shape for the rigid body (cylinder shape)
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    // 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

examples/common/Sphere.cpp

@@ -49,7 +49,7 @@ Sphere::Sphere(float radius, const openglframework::Vector3 &position,
 
     // Create the collision shape for the rigid body (sphere shape)
     // ReactPhysics3D will clone this object to create an internal one. Therefore,
-    // it is OK if this object is destroy right after calling Dynamics::createRigidBody()
+    // 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

examples/common/Viewer.cpp

@@ -48,7 +48,7 @@ void Viewer::computeFPS() {
     if(timeInterval > 1000){
 
         //  calculate the number of frames per second
-        fps = nbFrames / (timeInterval / 1000.0f);
+        fps = static_cast<int>(nbFrames / (timeInterval / 1000.0f));
 
          //  Set time
          previousTime = currentTime;

examples/common/opengl-framework/CMakeLists.txt

@@ -4,6 +4,9 @@ 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 ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
 
@@ -23,12 +26,16 @@ else()
    MESSAGE("GLEW not found")
 endif()
 
-# Find the LIBJPEG library
+# If the user wants to use JPEG textures
-FIND_PACKAGE(JPEG REQUIRED)
+if(USE_JPEG_TEXTURES)
-if(JPEG_FOUND)
+
+    # Find the LIBJPEG library
+    FIND_PACKAGE(JPEG REQUIRED)
+    if(JPEG_FOUND)
         MESSAGE("LIBJPEG found")
-else()
+    else()
         MESSAGE("LIBJPEG not found")
+    endif()
 endif()
 
 # Freeglut
@@ -37,6 +44,10 @@ add_subdirectory(freeglut)
 # Headers
 INCLUDE_DIRECTORIES(src freeglut ${JPEG_INCLUDE_DIR})
 
+if(USE_JPEG_TEXTURES)
+    add_definitions(-DUSE_JPEG_TEXTURE)
+endif()
+
 # Library configuration
 file (
   GLOB_RECURSE
@@ -44,7 +55,6 @@ file (
   src/*
 )
 
-
 # Require the opengl-framework code to be compiled in a static library
 ADD_LIBRARY (
    openglframework

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

@@ -84,7 +84,6 @@ void Mesh::calculateNormals() {
 
     // Normalize the normal at each vertex
     for (uint i=0; i<getNbVertices(); i++) {
-        std::cout << "vertex n : " << i << std::endl;
         mNormals[i] = mNormals[i].normalize();
     }
 }

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

@@ -44,7 +44,7 @@ namespace openglframework {
 // object that can be loaded from an OBJ file for instance.
 class Mesh : public Object3D {
 
-    private:
+    protected:
 
         // -------------------- Attributes -------------------- //
 

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

@@ -41,9 +41,7 @@ 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,
+void MeshReaderWriter::loadMeshFromFile(const std::string& filename, Mesh& meshToCreate) {
-                                        Mesh& meshToCreate)
-                                        throw(std::invalid_argument, std::runtime_error) {
 
     // Get the extension of the file
     uint startPosExtension = filename.find_last_of(".");
@@ -64,9 +62,7 @@ void MeshReaderWriter::loadMeshFromFile(const std::string& filename,
 }
 
 // Write a mesh to a file
-void MeshReaderWriter::writeMeshToFile(const std::string& filename,
+void MeshReaderWriter::writeMeshToFile(const std::string& filename, const Mesh& meshToWrite) {
-                                       const Mesh& meshToWrite)
-                                       throw(std::invalid_argument, std::runtime_error) {
 
     // Get the extension of the file
     uint startPosExtension = filename.find_last_of(".");

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

@@ -57,14 +57,10 @@ class MeshReaderWriter {
         // -------------------- Methods -------------------- //
 
         // Read a mesh from a file
-        static void loadMeshFromFile(const std::string& filename,
+        static void loadMeshFromFile(const std::string& filename, Mesh& meshToCreate);
-                                     Mesh& meshToCreate)
-                                     throw(std::invalid_argument, std::runtime_error);
 
         // Write a mesh to a file
-        static void writeMeshToFile(const std::string& filename,
+        static void writeMeshToFile(const std::string& filename, const Mesh& meshToWrite);
-                                    const Mesh& meshToWrite)
-                                    throw(std::invalid_argument, std::runtime_error);
 };
 
 // Class VertexMergingData

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

@@ -52,7 +52,7 @@ Texture2D::~Texture2D() {
 
 // Create the texture
 void Texture2D::create(uint width, uint height, uint internalFormat, uint format, uint type,
-            void* data) throw(std::invalid_argument) {
+            void* data) {
 
     // Destroy the current texture
     destroy();

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

@@ -69,7 +69,7 @@ class Texture2D {
 
         // Create the texture
         void create(uint width, uint height, uint internalFormat, uint format, uint type,
-                    void* data = NULL) throw(std::invalid_argument);
+                    void* data = NULL);
 
         // Destroy the texture
         void destroy();

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

@@ -26,8 +26,10 @@
 // Librairies
 #include "TextureReaderWriter.h"
 #include <string>
-#include <jpeglib.h>
+#ifdef USE_JPEG_TEXTURE
-#include <jerror.h>
+    #include <jpeglib.h>
+    #include <jerror.h>
+#endif
 
 using namespace openglframework;
 using namespace std;
@@ -59,8 +61,7 @@ typedef struct {
 
 // Load a texture from a file
 void TextureReaderWriter::loadTextureFromFile(const std::string& filename,
-                                              Texture2D& textureToCreate)
+                                              Texture2D& textureToCreate) {
-                                              throw(runtime_error, invalid_argument){
 
     // Get the extension of the file
     uint startPosExtension = filename.find_last_of(".");
@@ -70,9 +71,11 @@ void TextureReaderWriter::loadTextureFromFile(const std::string& filename,
     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
@@ -84,9 +87,7 @@ void TextureReaderWriter::loadTextureFromFile(const std::string& filename,
 }
 
 // Write a texture to a file
-void TextureReaderWriter::writeTextureToFile(const std::string& filename,
+void TextureReaderWriter::writeTextureToFile(const std::string& filename,const Texture2D& texture) {
-                                             const Texture2D& texture)
-                                             throw(runtime_error, invalid_argument){
 
     // Get the extension of the file
     uint startPosExtension = filename.find_last_of(".");
@@ -96,9 +97,11 @@ void TextureReaderWriter::writeTextureToFile(const std::string& filename,
     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
@@ -110,8 +113,7 @@ void TextureReaderWriter::writeTextureToFile(const std::string& filename,
 }
 
 // Load a TGA picture
-void TextureReaderWriter::readTGAPicture(const std::string &filename,
+void TextureReaderWriter::readTGAPicture(const std::string &filename, Texture2D& textureToCreate) {
-                                         Texture2D& textureToCreate) throw(runtime_error) {
 
     // Open the file
     std::ifstream stream(filename.c_str(), std::ios::binary);
@@ -156,8 +158,7 @@ void TextureReaderWriter::readTGAPicture(const std::string &filename,
 
 
 // Write a TGA picture
-void TextureReaderWriter::writeTGAPicture(const std::string& filename,
+void TextureReaderWriter::writeTGAPicture(const std::string& filename, const Texture2D& texture) {
-                                          const Texture2D& texture) throw(runtime_error) {
     assert(texture.getID() != 0);
 
     // Bind the corresponding texture
@@ -219,9 +220,10 @@ void TextureReaderWriter::writeTGAPicture(const std::string& filename,
     glBindTexture(GL_TEXTURE_2D, 0);
 }
 
+#ifdef USE_JPEG_TEXTURE
+
 // Read a JPEG picture
-void TextureReaderWriter::readJPEGPicture(const std::string& filename,
+void TextureReaderWriter::readJPEGPicture(const std::string& filename, Texture2D& textureToCreate) {
-                                          Texture2D& textureToCreate) throw(std::runtime_error) {
 
     struct jpeg_decompress_struct info;
     struct jpeg_error_mgr error;
@@ -276,8 +278,7 @@ void TextureReaderWriter::readJPEGPicture(const std::string& filename,
 }
 
 // Write a JPEG picture
-void TextureReaderWriter::writeJPEGPicture(const std::string& filename,
+void TextureReaderWriter::writeJPEGPicture(const std::string& filename, const Texture2D& texture) {
-                                           const Texture2D& texture) throw(std::runtime_error) {
 
     struct jpeg_compress_struct info;
     struct jpeg_error_mgr error;
@@ -327,3 +328,5 @@ void TextureReaderWriter::writeJPEGPicture(const std::string& filename,
     // Free allocated memory
     delete[] data;
 }
+
+#endif

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

@@ -52,34 +52,26 @@ class TextureReaderWriter {
         TextureReaderWriter();
 
         // Read a TGA picture
-        static void readTGAPicture(const std::string& filename,
+        static void readTGAPicture(const std::string& filename, Texture2D& textureToCreate);
-                                   Texture2D& textureToCreate) throw(std::runtime_error);
 
         // Write a TGA picture
-        static void writeTGAPicture(const std::string& filename,
+        static void writeTGAPicture(const std::string& filename, const Texture2D& texture);
-                                    const Texture2D& texture) throw(std::runtime_error);
 
         // Read a JPEG picture
-        static void readJPEGPicture(const std::string& filename,
+        static void readJPEGPicture(const std::string& filename, Texture2D& textureToCreate);
-                                    Texture2D& textureToCreate) throw(std::runtime_error);
 
         // Write a JPEG picture
-        static void writeJPEGPicture(const std::string& filename,
+        static void writeJPEGPicture(const std::string& filename, const Texture2D& texture);
-                                     const Texture2D& texture) throw(std::runtime_error);
 
     public :
 
         // -------------------- Methods -------------------- //
 
         // Load a texture from a file
-        static void loadTextureFromFile(const std::string& filename,
+        static void loadTextureFromFile(const std::string& filename, Texture2D& textureToCreate);
-                                        Texture2D& textureToCreate)
-                                        throw(std::runtime_error, std::invalid_argument);
 
         // Write a texture to a file
-        static void writeTextureToFile(const std::string& filename,
+        static void writeTextureToFile(const std::string& filename, const Texture2D& texture);
-                                       const Texture2D& texture)
-                                       throw(std::runtime_error, std::invalid_argument);
 };
 
 }

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

@@ -47,7 +47,7 @@ struct Color {
         // Constructor
         Color(float r, float g, float b, float a) : r(r), g(g), b(b), a(a) {}
 
-        // Constructor
+        // Copy-constructor
         Color(const Color& color) : r(color.r), g(color.g), b(color.b), a(color.a) {}
 
         // Destructor

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

@@ -31,6 +31,7 @@ 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
@@ -40,10 +41,11 @@ varying vec2 texCoords;                     // Texture coordinates
 void main() {
 
     // Compute the ambient term
-    vec3 ambient = lightAmbientColor;
+    //vec3 ambient = lightAmbientColor;
+    vec3 ambient = vertexColor.rgb + 0.0 * lightAmbientColor;
 
     // Get the texture color
-    vec3 textureColor = vec3(1);
+    vec3 textureColor = vertexColor.rgb;
     if (isTexture) textureColor = texture2D(texture, texCoords).rgb;
 
     // Compute the surface normal vector

examples/cubes/CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 2.6)
 
 # Project configuration
-PROJECT(FallingCubes)
+PROJECT(Cubes)
 
 # Copy the shaders used for the demo into the build directory
 FILE(COPY "../common/opengl-framework/src/shaders/" DESTINATION "${CMAKE_CURRENT_BINARY_DIR}/shaders/")
@@ -12,6 +12,6 @@ INCLUDE_DIRECTORIES("../common/opengl-framework/src/" "../common/")
 
 # Create the example executable using the
 # compiled reactphysics3d static library
-ADD_EXECUTABLE(fallingcubes FallingCubes.cpp Scene.cpp Scene.h "../common/Box.cpp" "../common/Box.h" "../common/Viewer.cpp" "../common/Viewer.h")
+ADD_EXECUTABLE(cubes Cubes.cpp Scene.cpp Scene.h "../common/Box.cpp" "../common/Box.h" "../common/Viewer.cpp" "../common/Viewer.h")
 
-TARGET_LINK_LIBRARIES(fallingcubes reactphysics3d openglframework)
+TARGET_LINK_LIBRARIES(cubes reactphysics3d openglframework)

examples/cubes/Cubes.cpp

@@ -51,7 +51,7 @@ int main(int argc, char** argv) {
     viewer = new Viewer();
     Vector2 windowsSize = Vector2(800, 600);
     Vector2 windowsPosition = Vector2(100, 100);
-    bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Falling Cubes", windowsSize, windowsPosition);
+    bool initOK = viewer->init(argc, argv, "ReactPhysics3D Examples - Cubes", windowsSize, windowsPosition);
     if (!initOK) return 1;
 
     // Create the scene

examples/cubes/Scene.cpp

@@ -65,12 +65,13 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
         float angle = i * 30.0f;
         openglframework::Vector3 position(radius * cos(angle),
                                           1 + i * (BOX_SIZE.y + 0.3f),
-                                          radius * sin(angle));
+                                          0);
 
         // Create a cube and a corresponding rigid in the dynamics world
-        Box* cube = new Box(BOX_SIZE, position , CUBE_MASS, mDynamicsWorld);
+        Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
 
         cube->getRigidBody()->setIsMotionEnabled(true);
+        mMapBodyToBox.insert(std::make_pair<rp3d::RigidBody*, Box*>(cube->getRigidBody(), cube));
 
         // Change the material properties of the rigid body
         rp3d::Material& material = cube->getRigidBody()->getMaterial();
@@ -87,6 +88,8 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
     // The floor must be a non-moving rigid body
     mFloor->getRigidBody()->setIsMotionEnabled(false);
 
+    mMapBodyToBox.insert(std::make_pair<rp3d::RigidBody*, Box*>(mFloor->getRigidBody(), mFloor));
+
     // Change the material properties of the floor rigid body
     rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
     material.setBounciness(rp3d::decimal(0.3));
@@ -142,6 +145,15 @@ void Scene::simulate() {
 
         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));
+            }
+        }
     }
 }
 

examples/cubes/Scene.h

@@ -34,8 +34,8 @@
 // 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(20, 0.5f, 20);    // Floor dimensions in meters
+const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);    // Floor dimensions in meters
-const float CUBE_MASS = 1.0f;                               // Box mass in kilograms
+const float BOX_MASS = 1.0f;                               // Box mass in kilograms
 const float FLOOR_MASS = 100.0f;                            // Floor mass in kilograms
 
 // Class Scene
@@ -66,6 +66,9 @@ class Scene {
         /// True if the physics simulation is running
         bool mIsRunning;
 
+        // TODO : REMOVE THIS
+        std::map<rp3d::RigidBody*, Box*> mMapBodyToBox;
+
     public:
 
         // -------------------- Methods -------------------- //

examples/joints/Scene.cpp

@@ -246,7 +246,7 @@ void Scene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 box1Dimension(2, 4, 2);
-    mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
+    mSliderJointBottomBox = new Box(box1Dimension, positionBox1 , BOX_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mSliderJointBottomBox->getRigidBody()->setIsMotionEnabled(false);
@@ -262,7 +262,7 @@ void Scene::createSliderJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 box2Dimension(1.5f, 4, 1.5f);
-    mSliderJointTopBox = new Box(box2Dimension, positionBox2 , CUBE_MASS, mDynamicsWorld);
+    mSliderJointTopBox = new Box(box2Dimension, positionBox2 , BOX_MASS, mDynamicsWorld);
 
     // The second box is allowed to move
     mSliderJointTopBox->getRigidBody()->setIsMotionEnabled(true);
@@ -301,7 +301,7 @@ void Scene::createPropellerHingeJoint() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 boxDimension(10, 1, 1);
-    mPropellerBox = new Box(boxDimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
+    mPropellerBox = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mPropellerBox->getRigidBody()->setIsMotionEnabled(true);
@@ -339,7 +339,7 @@ void Scene::createFixedJoints() {
 
     // Create a box and a corresponding rigid in the dynamics world
     openglframework::Vector3 boxDimension(1.5, 1.5, 1.5);
-    mFixedJointBox1 = new Box(boxDimension, positionBox1 , CUBE_MASS, mDynamicsWorld);
+    mFixedJointBox1 = new Box(boxDimension, positionBox1 , BOX_MASS, mDynamicsWorld);
 
     // The fist box cannot move
     mFixedJointBox1->getRigidBody()->setIsMotionEnabled(true);
@@ -354,7 +354,7 @@ void Scene::createFixedJoints() {
     openglframework::Vector3 positionBox2(-5, 7, 0);
 
     // Create a box and a corresponding rigid in the dynamics world
-    mFixedJointBox2 = new Box(boxDimension, positionBox2 , CUBE_MASS, mDynamicsWorld);
+    mFixedJointBox2 = new Box(boxDimension, positionBox2 , BOX_MASS, mDynamicsWorld);
 
     // The second box is allowed to move
     mFixedJointBox2->getRigidBody()->setIsMotionEnabled(true);

examples/joints/Scene.h

@@ -34,7 +34,7 @@
 // Constants
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);           // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(20, 0.5f, 20);    // Floor dimensions in meters
-const float CUBE_MASS = 1.0f;                                // Box mass in kilograms
+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