/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2015 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::mVBONormals(GL_ARRAY_BUFFER); openglframework::VertexArrayObject Box::mVAO; int Box::totalNbBoxes = 0; GLfloat Box::mCubeVertices[108] = { -1.0f,-1.0f,-1.0f, // triangle 1 : begin -1.0f,-1.0f, 1.0f, -1.0f, 1.0f, 1.0f, // triangle 1 : end 1.0f, 1.0f,-1.0f, // triangle 2 : begin -1.0f,-1.0f,-1.0f, -1.0f, 1.0f,-1.0f, // triangle 2 : end 1.0f,-1.0f, 1.0f, -1.0f,-1.0f,-1.0f, 1.0f,-1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f,-1.0f,-1.0f, -1.0f,-1.0f,-1.0f, -1.0f,-1.0f,-1.0f, -1.0f, 1.0f, 1.0f, -1.0f, 1.0f,-1.0f, 1.0f,-1.0f, 1.0f, -1.0f,-1.0f, 1.0f, -1.0f,-1.0f,-1.0f, -1.0f, 1.0f, 1.0f, -1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,-1.0f,-1.0f, 1.0f, 1.0f,-1.0f, 1.0f,-1.0f,-1.0f, 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f,-1.0f, -1.0f, 1.0f,-1.0f, 1.0f, 1.0f, 1.0f, -1.0f, 1.0f,-1.0f, -1.0f, 1.0f, 1.0f, 1.0f, 1.0f, 1.0f, -1.0f, 1.0f, 1.0f, 1.0f,-1.0f, 1.0f }; GLfloat Box::mCubeNormals[108] = { -1.0f, 0.0f, 0.0f, // triangle 1 : begin -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, // triangle 1 : end 0.0f, 0.0f,-1.0f, // triangle 2 : begin 0.0f, 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, // triangle 2 : end 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, 0.0f,// 0.0f, 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f,-1.0f,// -1.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, -1.0f, 0.0f,0.0f,// 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, 0.0f, 0.0f,-1.0f, 0.0f,// 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f,// 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,// 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,// 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,// 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,// 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f// }; // Constructor Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position, reactphysics3d::CollisionWorld* world) : openglframework::Object3D() { // Initialize the size of the box mSize[0] = size.x * 0.5f; mSize[1] = size.y * 0.5f; mSize[2] = size.z * 0.5f; // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0, 0, mSize[1], 0, 0, 0, 0, mSize[2], 0, 0, 0, 0, 1); // Initialize the position where the cube will be rendered translateWorld(position); // Create the collision shape for the rigid body (box shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); // 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); mPreviousTransform = transform; // Create a rigid body in the dynamics world mBody = world->createCollisionBody(transform); // Add the collision shape to the body mBody->addCollisionShape(collisionShape, rp3d::Transform::identity()); // If the Vertex Buffer object has not been created yet if (totalNbBoxes == 0) { // Create the Vertex Buffer createVBOAndVAO(); } totalNbBoxes++; mTransformMatrix = mTransformMatrix * mScalingMatrix; } // Constructor Box::Box(const openglframework::Vector3& size, const openglframework::Vector3& position, float mass, reactphysics3d::DynamicsWorld* world) : openglframework::Object3D() { // Initialize the size of the box mSize[0] = size.x * 0.5f; mSize[1] = size.y * 0.5f; mSize[2] = size.z * 0.5f; // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0, 0, mSize[1], 0, 0, 0, 0, mSize[2], 0, 0, 0, 0, 1); // Initialize the position where the cube will be rendered translateWorld(position); // Create the collision shape for the rigid body (box shape) // ReactPhysics3D will clone this object to create an internal one. Therefore, // it is OK if this object is destroyed right after calling RigidBody::addCollisionShape() const rp3d::BoxShape collisionShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2])); // 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); mPreviousTransform = transform; // Create a rigid body in the dynamics world rp3d::RigidBody* body = world->createRigidBody(transform); // Add the collision shape to the body body->addCollisionShape(collisionShape, rp3d::Transform::identity(), mass); mBody = body; // If the Vertex Buffer object has not been created yet if (totalNbBoxes == 0) { // Create the Vertex Buffer createVBOAndVAO(); } totalNbBoxes++; mTransformMatrix = mTransformMatrix * mScalingMatrix; } // Destructor Box::~Box() { if (totalNbBoxes == 1) { // Destroy the VBOs and VAO mVBOVertices.destroy(); mVBONormals.destroy(); mVAO.destroy(); } totalNbBoxes--; } // Render the cube at the correct position and with the correct orientation void Box::render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Bind the VAO mVAO.bind(); // Bind the shader shader.bind(); mVBOVertices.bind(); // Set the model to camera matrix shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix); shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix); // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the // model-view matrix) const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix; const openglframework::Matrix3 normalMatrix = localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose(); shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); shader.setVector4Uniform("vertexColor", color, false); // Get the location of shader attribute variables GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition"); GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false); glEnableVertexAttribArray(vertexPositionLoc); glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, NULL); mVBONormals.bind(); if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc); if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, NULL); // Draw the geometry of the box glDrawArrays(GL_TRIANGLES, 0, 36); glDisableVertexAttribArray(vertexPositionLoc); if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc); mVBONormals.unbind(); mVBOVertices.unbind(); // Unbind the VAO mVAO.unbind(); // Unbind the shader shader.unbind(); } // 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::createVBOAndVAO() { // Create the VBO for the vertices data mVBOVertices.create(); mVBOVertices.bind(); mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW); mVBOVertices.unbind(); // Create th VBO for the normals data mVBONormals.create(); mVBONormals.bind(); mVBONormals.copyDataIntoVBO(sizeof(mCubeNormals), mCubeNormals, GL_STATIC_DRAW); mVBONormals.unbind(); // Create the VAO for both VBOs mVAO.create(); mVAO.bind(); // Bind the VBO of vertices mVBOVertices.bind(); // Bind the VBO of indices mVBONormals.bind(); // Unbind the VAO mVAO.unbind(); } // Reset the transform void Box::resetTransform(const rp3d::Transform& transform) { // Reset the transform mBody->setTransform(transform); mBody->setIsSleeping(false); // Reset the velocity of the rigid body rp3d::RigidBody* rigidBody = dynamic_cast(mBody); if (rigidBody != NULL) { rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0)); rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0)); } updateTransform(1.0f); }