/******************************************************************************** * 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 "Scene.h" // Namespaces using namespace openglframework; // Constructor Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::string& meshFolderPath) : mViewer(viewer), mLight0(0), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false), mPhongShader(shaderFolderPath + "phong.vert", shaderFolderPath +"phong.frag") { // Move the light 0 mLight0.translateWorld(Vector3(50, 50, 50)); // Compute the radius and the center of the scene float radiusScene = 30.0f; openglframework::Vector3 center(0, 0, 0); // Set the center of the scene mViewer->setScenePosition(center, radiusScene); // Create the dynamics world for the physics simulation mCollisionWorld = new rp3d::CollisionWorld(); // Create the static data for the visual contact points VisualContactPoint::createStaticData(meshFolderPath); // ---------- Dumbbell ---------- // openglframework::Vector3 position1(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world mDumbbell = new Dumbbell(position1, mCollisionWorld, meshFolderPath); // ---------- Box ---------- // openglframework::Vector3 position2(0, 0, 0); // Create a box and a corresponding collision body in the dynamics world mBox = new Box(BOX_SIZE, position2, mCollisionWorld); mBox->getCollisionBody()->setIsActive(false); // ---------- Sphere ---------- // openglframework::Vector3 position3(0, 0, 0); // Create a sphere and a corresponding collision body in the dynamics world mSphere = new Sphere(SPHERE_RADIUS, position3, mCollisionWorld, meshFolderPath); // ---------- Cone ---------- // openglframework::Vector3 position4(0, 0, 0); // Create a cone and a corresponding collision body in the dynamics world mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld, meshFolderPath); // ---------- Cylinder ---------- // openglframework::Vector3 position5(0, 0, 0); // Create a cylinder and a corresponding collision body in the dynamics world mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5, mCollisionWorld, meshFolderPath); // ---------- Capsule ---------- // openglframework::Vector3 position6(0, 0, 0); // Create a cylinder and a corresponding collision body in the dynamics world mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, position6 , mCollisionWorld, meshFolderPath); // ---------- Convex Mesh ---------- // openglframework::Vector3 position7(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world mConvexMesh = new ConvexMesh(position7, mCollisionWorld, meshFolderPath); // Create the lines that will be used for raycasting createLines(); changeBody(); } // Create the raycast lines void Scene::createLines() { int nbRaysOneDimension = std::sqrt(float(NB_RAYS)); for (int i=0; i= NB_BODIES) mCurrentBodyIndex = 0; mSphere->getCollisionBody()->setIsActive(false); mBox->getCollisionBody()->setIsActive(false); mCone->getCollisionBody()->setIsActive(false); mCylinder->getCollisionBody()->setIsActive(false); mCapsule->getCollisionBody()->setIsActive(false); mConvexMesh->getCollisionBody()->setIsActive(false); mDumbbell->getCollisionBody()->setIsActive(false); switch(mCurrentBodyIndex) { case 0: mSphere->getCollisionBody()->setIsActive(true); break; case 1: mBox->getCollisionBody()->setIsActive(true); break; case 2: mCone->getCollisionBody()->setIsActive(true); break; case 3: mCylinder->getCollisionBody()->setIsActive(true); break; case 4: mCapsule->getCollisionBody()->setIsActive(true); break; case 5: mConvexMesh->getCollisionBody()->setIsActive(true); break; case 6: mDumbbell->getCollisionBody()->setIsActive(true); break; } } // Destructor Scene::~Scene() { // Destroy the shader mPhongShader.destroy(); // Destroy the box rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody()); delete mBox; // Destroy the sphere mCollisionWorld->destroyCollisionBody(mSphere->getCollisionBody()); delete mSphere; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody()); delete mCone; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody()); // Destroy the sphere delete mCylinder; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody()); // Destroy the sphere delete mCapsule; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody()); // Destroy the convex mesh delete mConvexMesh; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody()); // Destroy the convex mesh delete mDumbbell; mRaycastManager.resetPoints(); // Destroy the static data for the visual contact points VisualContactPoint::destroyStaticData(); // Destroy the collision world delete mCollisionWorld; // Destroy the lines for (std::vector::iterator it = mLines.begin(); it != mLines.end(); ++it) { delete (*it); } } // Take a step for the simulation void Scene::simulate() { mRaycastManager.resetPoints(); // For each line of the scene for (std::vector::iterator it = mLines.begin(); it != mLines.end(); ++it) { Line* line = *it; // Create a ray corresponding to the line openglframework::Vector3 p1 = line->getPoint1(); openglframework::Vector3 p2 = line->getPoint2(); rp3d::Vector3 point1(p1.x, p1.y, p1.z); rp3d::Vector3 point2(p2.x, p2.y, p2.z); rp3d::Ray ray(point1, point2); // Perform a raycast query on the physics world by passing a raycast // callback class in argument. mCollisionWorld->raycast(ray, &mRaycastManager); } } // Render the scene void Scene::render() { glEnable(GL_DEPTH_TEST); glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); glEnable(GL_CULL_FACE); // Get the world-space to camera-space matrix const Camera& camera = mViewer->getCamera(); const openglframework::Matrix4 worldToCameraMatrix = camera.getTransformMatrix().getInverse(); // Bind the shader mPhongShader.bind(); openglframework::Vector4 grey(0.7, 0.7, 0.7, 1); mPhongShader.setVector4Uniform("vertexColor", grey); // Set the variables of the shader mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix()); mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin()); mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f)); const Color& diffColLight0 = mLight0.getDiffuseColor(); const Color& specColLight0 = mLight0.getSpecularColor(); mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b)); mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b)); mPhongShader.setFloatUniform("shininess", 200.0f); if (mBox->getCollisionBody()->isActive()) mBox->render(mPhongShader, worldToCameraMatrix); if (mSphere->getCollisionBody()->isActive()) mSphere->render(mPhongShader, worldToCameraMatrix); if (mCone->getCollisionBody()->isActive()) mCone->render(mPhongShader, worldToCameraMatrix); if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(mPhongShader, worldToCameraMatrix); if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(mPhongShader, worldToCameraMatrix); if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(mPhongShader, worldToCameraMatrix); if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(mPhongShader, worldToCameraMatrix); mPhongShader.unbind(); mPhongShader.bind(); mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(0, 0, 0)); openglframework::Vector4 redColor(1, 0, 0, 1); mPhongShader.setVector4Uniform("vertexColor", redColor); // Render all the raycast hit points mRaycastManager.render(mPhongShader, worldToCameraMatrix, mAreNormalsDisplayed); mPhongShader.unbind(); mPhongShader.bind(); openglframework::Vector4 blueColor(0, 0.62, 0.92, 1); mPhongShader.setVector4Uniform("vertexColor", blueColor); // Render the lines for (std::vector::iterator it = mLines.begin(); it != mLines.end(); ++it) { (*it)->render(mPhongShader, worldToCameraMatrix); } // Unbind the shader mPhongShader.unbind(); }