377 lines
13 KiB
C++
377 lines
13 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2016 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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// Libraries
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#include "RaycastScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace raycastscene;
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// Constructor
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RaycastScene::RaycastScene(const std::string& name, EngineSettings& settings)
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: SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
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mRaycastManager(mPhongShader, mMeshFolderPath), mCurrentBodyIndex(-1),
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mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) {
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mIsContactPointsDisplayed = true;
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// Compute the radius and the center of the scene
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openglframework::Vector3 center(0, 0, 0);
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// Set the center of the scene
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setScenePosition(center, SCENE_RADIUS);
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rp3d::WorldSettings worldSettings;
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worldSettings.worldName = name;
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// Create the dynamics world for the physics simulation
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mPhysicsWorld = new rp3d::CollisionWorld(worldSettings);
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// ---------- Dumbbell ---------- //
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mDumbbell = new Dumbbell(mPhysicsWorld, mMeshFolderPath);
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// Set the box color
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mDumbbell->setColor(mGreyColorDemo);
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mDumbbell->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mDumbbell);
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// ---------- Box ---------- //
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// Create a box and a corresponding collision body in the dynamics world
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mBox = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath);
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mBox->getCollisionBody()->setIsActive(false);
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// Set the box color
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mBox->setColor(mGreyColorDemo);
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mBox->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mBox);
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// ---------- Sphere ---------- //
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere = new Sphere(SPHERE_RADIUS, mPhysicsWorld, mMeshFolderPath);
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// Set the color
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mSphere->setColor(mGreyColorDemo);
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mSphere->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mSphere);
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// ---------- Capsule ---------- //
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openglframework::Vector3 position6(0, 0, 0);
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// Create a cylinder and a corresponding collision body in the dynamics world
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mCapsule = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
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// Set the color
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mCapsule->setColor(mGreyColorDemo);
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mCapsule->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mCapsule);
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// ---------- Convex Mesh ---------- //
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mConvexMesh = new ConvexMesh(mPhysicsWorld, mMeshFolderPath + "convexmesh.obj");
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// Set the color
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mConvexMesh->setColor(mGreyColorDemo);
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mConvexMesh->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mConvexMesh);
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// ---------- Concave Mesh ---------- //
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mConcaveMesh = new ConcaveMesh(mPhysicsWorld, mMeshFolderPath + "city.obj");
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// Set the color
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mConcaveMesh->setColor(mGreyColorDemo);
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mConcaveMesh->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mConcaveMesh);
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// ---------- Heightfield ---------- //
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// Create a convex mesh and a corresponding collision body in the dynamics world
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mHeightField = new HeightField(mPhysicsWorld);
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// Set the color
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mHeightField->setColor(mGreyColorDemo);
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mHeightField->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mHeightField);
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// Create the lines that will be used for raycasting
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createLines();
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// Create the VBO and VAO to render the lines
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createVBOAndVAO();
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changeBody();
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}
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// Create the raycast lines
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void RaycastScene::createLines() {
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int nbRaysOneDimension = static_cast<int>(std::sqrt(float(NB_RAYS)));
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for (int i=0; i<nbRaysOneDimension; i++) {
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for (int j=0; j<nbRaysOneDimension; j++) {
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float theta = i * 2.0f * PI / float(nbRaysOneDimension);
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float phi = j * PI / float(nbRaysOneDimension);
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// Generate a point on a sphere with spherical coordinates
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float x = RAY_LENGTH * std::sin(phi) * std::cos(theta);
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float y = RAY_LENGTH * std::sin(phi) * std::sin(theta);
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float z = RAY_LENGTH * std::cos(phi);
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// Create a line from the point on the sphere to the center of
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// the scene
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openglframework::Vector3 point1(x, y, z);
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openglframework::Vector3 point2(0.0f, 0.0f, 0.0f);
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Line* line = new Line(point1, point2);
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mLines.push_back(line);
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mLinePoints.push_back(point1);
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mLinePoints.push_back(point2);
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}
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}
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}
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// Change the body to raycast and to display
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void RaycastScene::changeBody() {
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mCurrentBodyIndex++;
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if (mCurrentBodyIndex >= NB_BODIES) mCurrentBodyIndex = 0;
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mSphere->getCollisionBody()->setIsActive(false);
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mBox->getCollisionBody()->setIsActive(false);
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mCapsule->getCollisionBody()->setIsActive(false);
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mConvexMesh->getCollisionBody()->setIsActive(false);
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mDumbbell->getCollisionBody()->setIsActive(false);
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mConcaveMesh->getCollisionBody()->setIsActive(false);
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mHeightField->getCollisionBody()->setIsActive(false);
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switch(mCurrentBodyIndex) {
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case 0: mSphere->getCollisionBody()->setIsActive(true);
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break;
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case 1: mBox->getCollisionBody()->setIsActive(true);
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break;
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case 2: mCapsule->getCollisionBody()->setIsActive(true);
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break;
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case 3: mConvexMesh->getCollisionBody()->setIsActive(true);
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break;
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case 4: mDumbbell->getCollisionBody()->setIsActive(true);
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break;
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case 5: mConcaveMesh->getCollisionBody()->setIsActive(true);
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break;
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case 6: mHeightField->getCollisionBody()->setIsActive(true);
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break;
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}
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}
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// Reset the scene
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void RaycastScene::reset() {
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std::vector<PhysicsObject*>::iterator it;
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for (it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
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(*it)->setTransform(rp3d::Transform(rp3d::Vector3::zero(), rp3d::Quaternion::identity()));
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}
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}
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// Destructor
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RaycastScene::~RaycastScene() {
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// Destroy the box rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mBox->getCollisionBody());
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delete mBox;
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// Destroy the sphere
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mPhysicsWorld->destroyCollisionBody(mSphere->getCollisionBody());
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delete mSphere;
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// Destroy the corresponding rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mCapsule->getCollisionBody());
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// Destroy the sphere
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delete mCapsule;
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// Destroy the corresponding rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
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// Destroy the convex mesh
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delete mConvexMesh;
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// Destroy the corresponding rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
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// Destroy the dumbbell
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delete mDumbbell;
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// Destroy the corresponding rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
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// Destroy the convex mesh
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delete mConcaveMesh;
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// Destroy the corresponding rigid body from the dynamics world
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mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody());
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// Destroy the convex mesh
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delete mHeightField;
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mRaycastManager.resetPoints();
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// Destroy the static data for the visual contact points
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VisualContactPoint::destroyStaticData();
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// Destroy the collision world
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delete mPhysicsWorld;
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// Destroy the lines
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for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
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++it) {
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delete (*it);
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}
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// Destroy the VBOs and VAO
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mVBOVertices.destroy();
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mVAO.destroy();
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}
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// Take a step for the simulation
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void RaycastScene::update() {
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mRaycastManager.resetPoints();
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// For each line of the scene
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for (std::vector<Line*>::iterator it = mLines.begin(); it != mLines.end();
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++it) {
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Line* line = *it;
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// Create a ray corresponding to the line
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openglframework::Vector3 p1 = line->getPoint1();
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openglframework::Vector3 p2 = line->getPoint2();
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rp3d::Vector3 point1(p1.x, p1.y, p1.z);
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rp3d::Vector3 point2(p2.x, p2.y, p2.z);
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rp3d::Ray ray(point1, point2);
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// Perform a raycast query on the physics world by passing a raycast
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// callback class in argument.
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mPhysicsWorld->raycast(ray, &mRaycastManager);
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}
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SceneDemo::update();
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}
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// Render the scene
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void RaycastScene::renderSinglePass(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the VAO
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mVAO.bind();
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// Bind the shader
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mColorShader.bind();
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mVBOVertices.bind();
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// Set the model to camera matrix
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const Matrix4 localToCameraMatrix = Matrix4::identity();
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mColorShader.setMatrix4x4Uniform("localToWorldMatrix", localToCameraMatrix);
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mColorShader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
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// Set the vertex color
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openglframework::Vector4 color(1, 0.55f, 0, 1);
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mColorShader.setVector4Uniform("vertexColor", color, false);
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// Get the location of shader attribute variables
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GLint vertexPositionLoc = mColorShader.getAttribLocation("vertexPosition");
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glEnableVertexAttribArray(vertexPositionLoc);
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glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
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// Draw the lines
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glDrawArrays(GL_LINES, 0, mLinePoints.size() * 2);
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glDisableVertexAttribArray(vertexPositionLoc);
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mVBOVertices.unbind();
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// Unbind the VAO
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mVAO.unbind();
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mColorShader.unbind();
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// Bind the shader
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shader.bind();
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// Render all the physics objects of the scene
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for (std::vector<PhysicsObject*>::iterator it = mPhysicsObjects.begin(); it != mPhysicsObjects.end(); ++it) {
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if ((*it)->getCollisionBody()->isActive()) {
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(*it)->render(shader, worldToCameraMatrix);
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}
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}
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// Unbind the shader
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shader.unbind();
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}
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// Create the Vertex Buffer Objects used to render with OpenGL.
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/// We create two VBOs (one for vertices and one for indices)
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void RaycastScene::createVBOAndVAO() {
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// Create the VBO for the vertices data
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mVBOVertices.create();
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mVBOVertices.bind();
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size_t sizeVertices = mLinePoints.size() * sizeof(openglframework::Vector3);
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mVBOVertices.copyDataIntoVBO(sizeVertices, &mLinePoints[0], GL_STATIC_DRAW);
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mVBOVertices.unbind();
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// Create the VAO for both VBOs
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mVAO.create();
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mVAO.bind();
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// Bind the VBO of vertices
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mVBOVertices.bind();
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// Unbind the VAO
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mVAO.unbind();
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}
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// Called when a keyboard event occurs
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bool RaycastScene::keyboardEvent(int key, int scancode, int action, int mods) {
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// If the space key has been pressed
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if (key == GLFW_KEY_SPACE && action == GLFW_PRESS) {
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changeBody();
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return true;
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}
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return false;
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}
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