/******************************************************************************** * 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(bool createRigidBody, reactphysics3d::PhysicsCommon& physicsCommon, rp3d::PhysicsWorld* physicsWorld, const std::string& meshPath) : PhysicsObject(physicsCommon, meshPath), mVBOVertices(GL_ARRAY_BUFFER), mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER), mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) { // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); mPhysicsTriangleMesh = mPhysicsCommon.createTriangleMesh(); // For each subpart of the mesh for (unsigned int i=0; iaddSubpart(vertexArray); } // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end mConcaveShape = mPhysicsCommon.createConcaveMeshShape(mPhysicsTriangleMesh); mPreviousTransform = rp3d::Transform::identity(); // Create the body if (createRigidBody) { rp3d::RigidBody* body = physicsWorld->createRigidBody(mPreviousTransform); mCollider = body->addCollider(mConcaveShape, rp3d::Transform::identity()); body->updateMassPropertiesFromColliders(); mBody = body; } else { mBody = physicsWorld->createCollisionBody(mPreviousTransform); mCollider = mBody->addCollider(mConcaveShape, rp3d::Transform::identity()); } // 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; igetNbSubparts(); i++) { delete mPhysicsTriangleMesh->getSubpart(i); } // Destroy the mesh destroy(); // Destroy the VBOs and VAO mVBOIndices.destroy(); mVBOVertices.destroy(); mVBONormals.destroy(); mVBOTextureCoords.destroy(); mVAO.destroy(); mPhysicsCommon.destroyConcaveMeshShape(mConcaveShape); } // Render the sphere at the correct position and with the correct orientation void ConcaveMesh::render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) { // Bind the shader shader.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 rp3d::RigidBody* rigidBody = dynamic_cast(mBody); openglframework::Color currentColor = rigidBody != nullptr && rigidBody->isSleeping() ? 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; i