/******************************************************************************** * ReactPhysics3D physics library, http://www.reactphysics3d.com * * Copyright (c) 2010-2016 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 "ConcaveMesh.h" // Constructor ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, reactphysics3d::CollisionWorld* world, const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); // Initialize the position where the sphere will be rendered translateWorld(position); // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); // For each subpart of the mesh for (unsigned int i=0; icreateCollisionBody(transform); // Add a collision shape to the body and specify the mass of the collision shape mProxyShape = mBody->addCollisionShape(mConcaveShape, rp3d::Transform::identity()); // Create the VBOs and VAO createVBOAndVAO(); mTransformMatrix = mTransformMatrix * mScalingMatrix; } // Constructor ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, float mass, reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshPath) : openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Load the mesh from a file openglframework::MeshReaderWriter::loadMeshFromFile(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); // Initialize the position where the sphere will be rendered translateWorld(position); // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); // For each subpart of the mesh for (unsigned int i=0; isetIsSmoothMeshCollisionEnabled(false); // Initial position and orientation of the rigid body rp3d::Vector3 initPosition(position.x, position.y, position.z); rp3d::Quaternion initOrientation = rp3d::Quaternion::identity(); rp3d::Transform transform(initPosition, initOrientation); // Create a rigid body corresponding to the sphere in the dynamics world rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform); // Add a collision shape to the body and specify the mass of the collision shape mProxyShape = body->addCollisionShape(mConcaveShape, rp3d::Transform::identity(), mass); mBody = body; // Create the VBOs and VAO createVBOAndVAO(); mTransformMatrix = mTransformMatrix * mScalingMatrix; } // Destructor ConcaveMesh::~ConcaveMesh() { // Destroy the triangle mesh data for the physics engine for (unsigned int i=0; iisSleeping() ? mSleepingColor : mColor; openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a); shader.setVector4Uniform("vertexColor", color, false); // Bind the VAO mVAO.bind(); mVBOVertices.bind(); // 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, (char*)nullptr); mVBONormals.bind(); if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr); if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc); // For each part of the mesh for (unsigned int i=0; isetTransform(transform); mBody->setIsSleeping(false); // Reset the velocity of the rigid body rp3d::RigidBody* rigidBody = dynamic_cast(mBody); if (rigidBody != nullptr) { rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0)); rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0)); } updateTransform(1.0f); } // Set the scaling of the object void ConcaveMesh::setScaling(const openglframework::Vector3& scaling) { // Scale the collision shape mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z)); // Scale the graphics object mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0, 0, scaling.y, 0,0, 0, 0, scaling.z, 0, 0, 0, 0, 1.0f); }