344 lines
12 KiB
C++
344 lines
12 KiB
C++
/********************************************************************************
|
|
* 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 "Box.h"
|
|
|
|
// Macros
|
|
#define MEMBER_OFFSET(s,m) ((char *)NULL + (offsetof(s,m)))
|
|
|
|
// Initialize static variables
|
|
openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
|
|
openglframework::VertexBufferObject Box::mVBONormals(GL_ARRAY_BUFFER);
|
|
openglframework::VertexArrayObject Box::mVAO;
|
|
int Box::totalNbBoxes = 0;
|
|
GLfloat Box::mCubeVertices[108] = {
|
|
-1.0f,-1.0f,-1.0f, // triangle 1 : begin
|
|
-1.0f,-1.0f, 1.0f,
|
|
-1.0f, 1.0f, 1.0f, // triangle 1 : end
|
|
1.0f, 1.0f,-1.0f, // triangle 2 : begin
|
|
-1.0f,-1.0f,-1.0f,
|
|
-1.0f, 1.0f,-1.0f, // triangle 2 : end
|
|
1.0f,-1.0f, 1.0f,
|
|
-1.0f,-1.0f,-1.0f,
|
|
1.0f,-1.0f,-1.0f,
|
|
1.0f, 1.0f,-1.0f,
|
|
1.0f,-1.0f,-1.0f,
|
|
-1.0f,-1.0f,-1.0f,
|
|
-1.0f,-1.0f,-1.0f,
|
|
-1.0f, 1.0f, 1.0f,
|
|
-1.0f, 1.0f,-1.0f,
|
|
1.0f,-1.0f, 1.0f,
|
|
-1.0f,-1.0f, 1.0f,
|
|
-1.0f,-1.0f,-1.0f,
|
|
-1.0f, 1.0f, 1.0f,
|
|
-1.0f,-1.0f, 1.0f,
|
|
1.0f,-1.0f, 1.0f,
|
|
1.0f, 1.0f, 1.0f,
|
|
1.0f,-1.0f,-1.0f,
|
|
1.0f, 1.0f,-1.0f,
|
|
1.0f,-1.0f,-1.0f,
|
|
1.0f, 1.0f, 1.0f,
|
|
1.0f,-1.0f, 1.0f,
|
|
1.0f, 1.0f, 1.0f,
|
|
1.0f, 1.0f,-1.0f,
|
|
-1.0f, 1.0f,-1.0f,
|
|
1.0f, 1.0f, 1.0f,
|
|
-1.0f, 1.0f,-1.0f,
|
|
-1.0f, 1.0f, 1.0f,
|
|
1.0f, 1.0f, 1.0f,
|
|
-1.0f, 1.0f, 1.0f,
|
|
1.0f,-1.0f, 1.0f
|
|
};
|
|
GLfloat Box::mCubeNormals[108] = {
|
|
-1.0f, 0.0f, 0.0f, // triangle 1 : begin
|
|
-1.0f, 0.0f, 0.0f,
|
|
-1.0f, 0.0f, 0.0f, // triangle 1 : end
|
|
0.0f, 0.0f,-1.0f, // triangle 2 : begin
|
|
0.0f, 0.0f,-1.0f,
|
|
0.0f, 0.0f,-1.0f, // triangle 2 : end
|
|
0.0f,-1.0f, 0.0f,
|
|
0.0f,-1.0f, 0.0f,
|
|
0.0f,-1.0f, 0.0f,//
|
|
0.0f, 0.0f,-1.0f,
|
|
0.0f, 0.0f,-1.0f,
|
|
0.0f, 0.0f,-1.0f,//
|
|
-1.0f, 0.0f, 0.0f,
|
|
-1.0f, 0.0f, 0.0f,
|
|
-1.0f, 0.0f,0.0f,//
|
|
0.0f,-1.0f, 0.0f,
|
|
0.0f,-1.0f, 0.0f,
|
|
0.0f,-1.0f, 0.0f,//
|
|
0.0f, 0.0f, 1.0f,
|
|
0.0f, 0.0f, 1.0f,
|
|
0.0f, 0.0f, 1.0f,//
|
|
1.0f, 0.0f, 0.0f,
|
|
1.0f, 0.0f, 0.0f,
|
|
1.0f, 0.0f, 0.0f,//
|
|
1.0f, 0.0f, 0.0f,
|
|
1.0f, 0.0f, 0.0f,
|
|
1.0f, 0.0f, 0.0f,//
|
|
0.0f, 1.0f, 0.0f,
|
|
0.0f, 1.0f, 0.0f,
|
|
0.0f, 1.0f, 0.0f,//
|
|
0.0f, 1.0f, 0.0f,
|
|
0.0f, 1.0f, 0.0f,
|
|
0.0f, 1.0f, 0.0f,//
|
|
0.0f, 0.0f, 1.0f,
|
|
0.0f, 0.0f, 1.0f,
|
|
0.0f, 0.0f, 1.0f//
|
|
};
|
|
// Constructor
|
|
Box::Box(const openglframework::Vector3& size, const openglframework::Vector3 &position,
|
|
reactphysics3d::CollisionWorld* world)
|
|
: openglframework::Object3D() {
|
|
|
|
// Initialize the size of the box
|
|
mSize[0] = size.x * 0.5f;
|
|
mSize[1] = size.y * 0.5f;
|
|
mSize[2] = size.z * 0.5f;
|
|
|
|
// Compute the scaling matrix
|
|
mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
|
|
0, mSize[1], 0, 0,
|
|
0, 0, mSize[2], 0,
|
|
0, 0, 0, 1);
|
|
|
|
// Initialize the position where the cube will be rendered
|
|
translateWorld(position);
|
|
|
|
// Create the collision shape for the rigid body (box shape)
|
|
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
|
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
|
mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
|
|
|
// 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);
|
|
|
|
mPreviousTransform = transform;
|
|
|
|
// Create a rigid body in the dynamics world
|
|
mBody = world->createCollisionBody(transform);
|
|
|
|
// Add the collision shape to the body
|
|
mProxyShape = mBody->addCollisionShape(mBoxShape, rp3d::Transform::identity());
|
|
|
|
// If the Vertex Buffer object has not been created yet
|
|
if (totalNbBoxes == 0) {
|
|
|
|
// Create the Vertex Buffer
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
totalNbBoxes++;
|
|
|
|
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
|
}
|
|
|
|
// Constructor
|
|
Box::Box(const openglframework::Vector3& size, const openglframework::Vector3& position,
|
|
float mass, reactphysics3d::DynamicsWorld* world)
|
|
: openglframework::Object3D() {
|
|
|
|
// Initialize the size of the box
|
|
mSize[0] = size.x * 0.5f;
|
|
mSize[1] = size.y * 0.5f;
|
|
mSize[2] = size.z * 0.5f;
|
|
|
|
// Compute the scaling matrix
|
|
mScalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
|
|
0, mSize[1], 0, 0,
|
|
0, 0, mSize[2], 0,
|
|
0, 0, 0, 1);
|
|
|
|
// Initialize the position where the cube will be rendered
|
|
translateWorld(position);
|
|
|
|
// Create the collision shape for the rigid body (box shape)
|
|
// ReactPhysics3D will clone this object to create an internal one. Therefore,
|
|
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
|
mBoxShape = new rp3d::BoxShape(rp3d::Vector3(mSize[0], mSize[1], mSize[2]));
|
|
|
|
// 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);
|
|
|
|
mPreviousTransform = transform;
|
|
|
|
// Create a rigid body in the dynamics world
|
|
rp3d::RigidBody* body = world->createRigidBody(transform);
|
|
|
|
// Add the collision shape to the body
|
|
mProxyShape = body->addCollisionShape(mBoxShape, rp3d::Transform::identity(), mass);
|
|
|
|
mBody = body;
|
|
|
|
// If the Vertex Buffer object has not been created yet
|
|
if (totalNbBoxes == 0) {
|
|
|
|
// Create the Vertex Buffer
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
totalNbBoxes++;
|
|
|
|
mTransformMatrix = mTransformMatrix * mScalingMatrix;
|
|
}
|
|
|
|
// Destructor
|
|
Box::~Box() {
|
|
|
|
if (totalNbBoxes == 1) {
|
|
|
|
// Destroy the VBOs and VAO
|
|
mVBOVertices.destroy();
|
|
mVBONormals.destroy();
|
|
mVAO.destroy();
|
|
}
|
|
delete mBoxShape;
|
|
totalNbBoxes--;
|
|
}
|
|
|
|
// Render the cube at the correct position and with the correct orientation
|
|
void Box::render(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
|
|
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
|
|
openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
|
|
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
|
|
shader.setVector4Uniform("vertexColor", color, false);
|
|
|
|
// 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, NULL);
|
|
|
|
mVBONormals.bind();
|
|
|
|
if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
|
|
if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, NULL);
|
|
|
|
// Draw the geometry of the box
|
|
glDrawArrays(GL_TRIANGLES, 0, 36);
|
|
|
|
glDisableVertexAttribArray(vertexPositionLoc);
|
|
if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);
|
|
|
|
mVBONormals.unbind();
|
|
mVBOVertices.unbind();
|
|
|
|
// Unbind the VAO
|
|
mVAO.unbind();
|
|
|
|
// Unbind the shader
|
|
shader.unbind();
|
|
}
|
|
|
|
// Create the Vertex Buffer Objects used to render to box with OpenGL.
|
|
/// We create two VBOs (one for vertices and one for indices) to render all the boxes
|
|
/// in the simulation.
|
|
void Box::createVBOAndVAO() {
|
|
|
|
// Create the VBO for the vertices data
|
|
mVBOVertices.create();
|
|
mVBOVertices.bind();
|
|
mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW);
|
|
mVBOVertices.unbind();
|
|
|
|
// Create th VBO for the normals data
|
|
mVBONormals.create();
|
|
mVBONormals.bind();
|
|
mVBONormals.copyDataIntoVBO(sizeof(mCubeNormals), mCubeNormals, GL_STATIC_DRAW);
|
|
mVBONormals.unbind();
|
|
|
|
// Create the VAO for both VBOs
|
|
mVAO.create();
|
|
mVAO.bind();
|
|
|
|
// Bind the VBO of vertices
|
|
mVBOVertices.bind();
|
|
|
|
// Bind the VBO of indices
|
|
mVBONormals.bind();
|
|
|
|
// Unbind the VAO
|
|
mVAO.unbind();
|
|
}
|
|
|
|
// Reset the transform
|
|
void Box::resetTransform(const rp3d::Transform& transform) {
|
|
|
|
// Reset the transform
|
|
mBody->setTransform(transform);
|
|
|
|
mBody->setIsSleeping(false);
|
|
|
|
// Reset the velocity of the rigid body
|
|
rp3d::RigidBody* rigidBody = dynamic_cast<rp3d::RigidBody*>(mBody);
|
|
if (rigidBody != NULL) {
|
|
rigidBody->setLinearVelocity(rp3d::Vector3(0, 0, 0));
|
|
rigidBody->setAngularVelocity(rp3d::Vector3(0, 0, 0));
|
|
}
|
|
|
|
updateTransform(1.0f);
|
|
}
|
|
|
|
// Set the scaling of the object
|
|
void Box::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(mSize[0] * scaling.x, 0, 0, 0,
|
|
0, mSize[1] * scaling.y, 0, 0,
|
|
0, 0, mSize[2] * scaling.z, 0,
|
|
0, 0, 0, 1);
|
|
}
|