/******************************************************************************** * 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 "RaycastScene.h" // Namespaces using namespace openglframework; using namespace raycastscene; // Constructor RaycastScene::RaycastScene(const std::string& name) : SceneDemo(name, SCENE_RADIUS, false), mMeshFolderPath("meshes/"), mRaycastManager(mPhongShader, mMeshFolderPath), mCurrentBodyIndex(-1), mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) { mIsContactPointsDisplayed = true; // Compute the radius and the center of the scene openglframework::Vector3 center(0, 0, 0); // Set the center of the scene setScenePosition(center, SCENE_RADIUS); // Create the dynamics world for the physics simulation mCollisionWorld = new rp3d::CollisionWorld(); // ---------- 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, mMeshFolderPath); // Set the box color mDumbbell->setColor(mGreyColorDemo); mDumbbell->setSleepingColor(mRedColorDemo); // ---------- 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); // Set the box color mBox->setColor(mGreyColorDemo); mBox->setSleepingColor(mRedColorDemo); // ---------- 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, mMeshFolderPath); // Set the color mSphere->setColor(mGreyColorDemo); mSphere->setSleepingColor(mRedColorDemo); // ---------- 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, mMeshFolderPath); // Set the color mCone->setColor(mGreyColorDemo); mCone->setSleepingColor(mRedColorDemo); // ---------- 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, mMeshFolderPath); // Set the color mCylinder->setColor(mGreyColorDemo); mCylinder->setSleepingColor(mRedColorDemo); // ---------- 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, mMeshFolderPath); // Set the color mCapsule->setColor(mGreyColorDemo); mCapsule->setSleepingColor(mRedColorDemo); // ---------- 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, mMeshFolderPath); // Set the color mConvexMesh->setColor(mGreyColorDemo); mConvexMesh->setSleepingColor(mRedColorDemo); // ---------- Concave Mesh ---------- // openglframework::Vector3 position8(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath); // Set the color mConcaveMesh->setColor(mGreyColorDemo); mConcaveMesh->setSleepingColor(mRedColorDemo); // ---------- Heightfield ---------- // openglframework::Vector3 position9(0, 0, 0); // Create a convex mesh and a corresponding collision body in the dynamics world mHeightField = new HeightField(position9, mCollisionWorld); // Set the color mHeightField->setColor(mGreyColorDemo); mHeightField->setSleepingColor(mRedColorDemo); // Create the lines that will be used for raycasting createLines(); // Create the VBO and VAO to render the lines createVBOAndVAO(mPhongShader); changeBody(); } // Create the raycast lines void RaycastScene::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); mConcaveMesh->getCollisionBody()->setIsActive(false); mHeightField->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; case 7: mConcaveMesh->getCollisionBody()->setIsActive(true); break; case 8: mHeightField->getCollisionBody()->setIsActive(true); break; } } // Reset the scene void RaycastScene::reset() { } // Destructor RaycastScene::~RaycastScene() { // 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 dumbbell delete mDumbbell; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody()); // Destroy the convex mesh delete mConcaveMesh; // Destroy the corresponding rigid body from the dynamics world mCollisionWorld->destroyCollisionBody(mHeightField->getCollisionBody()); // Destroy the convex mesh delete mHeightField; 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); } // Destroy the VBOs and VAO mVBOVertices.destroy(); mVAO.destroy(); } // Update the physics world (take a simulation step) void RaycastScene::updatePhysics() { } // Take a step for the simulation void RaycastScene::update() { 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); } SceneDemo::update(); } // Render the scene void RaycastScene::renderSinglePass(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 const Matrix4 localToCameraMatrix = Matrix4::identity(); shader.setMatrix4x4Uniform("localToWorldMatrix", localToCameraMatrix); shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix); // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the // model-view matrix) const openglframework::Matrix3 normalMatrix = localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose(); shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false); // Set the vertex color openglframework::Vector4 color(1, 0, 0, 1); shader.setVector4Uniform("vertexColor", color, false); // Get the location of shader attribute variables GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition"); glEnableVertexAttribArray(vertexPositionLoc); glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL); // Draw the lines glDrawArrays(GL_LINES, 0, NB_RAYS); glDisableVertexAttribArray(vertexPositionLoc); mVBOVertices.unbind(); // Unbind the VAO mVAO.unbind(); shader.unbind(); // Render the shapes if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix); if (mSphere->getCollisionBody()->isActive()) mSphere->render(shader, worldToCameraMatrix); if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix); if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix); if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix); if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix); if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix); if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix); if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix); shader.unbind(); } // Create the Vertex Buffer Objects used to render with OpenGL. /// We create two VBOs (one for vertices and one for indices) void RaycastScene::createVBOAndVAO(openglframework::Shader& shader) { // Bind the shader shader.bind(); // Create the VBO for the vertices data mVBOVertices.create(); mVBOVertices.bind(); size_t sizeVertices = mLinePoints.size() * sizeof(openglframework::Vector3); mVBOVertices.copyDataIntoVBO(sizeVertices, &mLinePoints[0], GL_STATIC_DRAW); mVBOVertices.unbind(); // Create the VAO for both VBOs mVAO.create(); mVAO.bind(); // Bind the VBO of vertices mVBOVertices.bind(); // Unbind the VAO mVAO.unbind(); // Unbind the shader shader.unbind(); } // Called when a keyboard event occurs bool RaycastScene::keyboardEvent(int key, int scancode, int action, int mods) { // If the space key has been pressed if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) { changeBody(); return true; } return false; }