313 lines
13 KiB
C++
Executable File
313 lines
13 KiB
C++
Executable File
/********************************************************************************
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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 "CollisionDetectionScene.h"
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// Namespaces
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using namespace openglframework;
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using namespace collisiondetectionscene;
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// Constructor
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CollisionDetectionScene::CollisionDetectionScene(const std::string& name, EngineSettings& settings)
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: SceneDemo(name, settings, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
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mContactManager(mPhongShader, mMeshFolderPath),
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mAreNormalsDisplayed(false) {
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mSelectedShapeIndex = 0;
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mIsContactPointsDisplayed = true;
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mIsWireframeEnabled = 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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// ---------- Sphere 1 ---------- //
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere1 = new Sphere(4, mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mSphere1);
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// Set the color
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mSphere1->setColor(mGreyColorDemo);
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mSphere1->setSleepingColor(mRedColorDemo);
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//mSphere1->setScaling(0.5f);
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mPhysicsObjects.push_back(mSphere1);
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// ---------- Sphere 2 ---------- //
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere2 = new Sphere(2, mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mSphere2);
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// Set the color
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mSphere2->setColor(mGreyColorDemo);
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mSphere2->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mSphere2);
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// ---------- Capsule 1 ---------- //
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// Create a cylinder and a corresponding collision body in the dynamics world
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mCapsule1 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mCapsule1);
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// Set the color
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mCapsule1->setColor(mGreyColorDemo);
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mCapsule1->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mCapsule1);
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// ---------- Capsule 2 ---------- //
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// Create a cylinder and a corresponding collision body in the dynamics world
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mCapsule2 = new Capsule(CAPSULE_RADIUS, CAPSULE_HEIGHT, mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mCapsule2);
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// Set the color
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mCapsule2->setColor(mGreyColorDemo);
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mCapsule2->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mCapsule2);
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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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mAllShapes.push_back(mConcaveMesh);
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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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// ---------- Box 1 ---------- //
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// Create a cylinder and a corresponding collision body in the dynamics world
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mBox1 = new Box(BOX_SIZE, mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mBox1);
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// Set the color
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mBox1->setColor(mGreyColorDemo);
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mBox1->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mBox1);
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// ---------- Box 2 ---------- //
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// Create a cylinder and a corresponding collision body in the dynamics world
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mBox2 = new Box(openglframework::Vector3(3, 2, 5), mPhysicsWorld, mMeshFolderPath);
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mAllShapes.push_back(mBox2);
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// Set the color
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mBox2->setColor(mGreyColorDemo);
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mBox2->setSleepingColor(mRedColorDemo);
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mPhysicsObjects.push_back(mBox2);
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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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mAllShapes.push_back(mConvexMesh);
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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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// ---------- 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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mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
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}
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// Reset the scene
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void CollisionDetectionScene::reset() {
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mSphere1->setTransform(rp3d::Transform(rp3d::Vector3(15, 5, 0), rp3d::Quaternion::identity()));
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mSphere2->setTransform(rp3d::Transform(rp3d::Vector3(0, 6, 0), rp3d::Quaternion::identity()));
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mCapsule1->setTransform(rp3d::Transform(rp3d::Vector3(-8, 7, 0), rp3d::Quaternion::identity()));
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mCapsule2->setTransform(rp3d::Transform(rp3d::Vector3(11, -8, 0), rp3d::Quaternion::identity()));
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mBox1->setTransform(rp3d::Transform(rp3d::Vector3(-4, -7, 0), rp3d::Quaternion::identity()));
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mBox2->setTransform(rp3d::Transform(rp3d::Vector3(0, 9, 0), rp3d::Quaternion::identity()));
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mConvexMesh->setTransform(rp3d::Transform(rp3d::Vector3(-5, 0, 0), rp3d::Quaternion::identity()));
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mConcaveMesh->setTransform(rp3d::Transform(rp3d::Vector3(0, 15, 0), rp3d::Quaternion::identity()));
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mHeightField->setTransform(rp3d::Transform(rp3d::Vector3(0, -22, 0), rp3d::Quaternion::identity()));
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}
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// Destructor
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CollisionDetectionScene::~CollisionDetectionScene() {
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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 spheres
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mPhysicsWorld->destroyCollisionBody(mSphere1->getCollisionBody());
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delete mSphere1;
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mPhysicsWorld->destroyCollisionBody(mSphere2->getCollisionBody());
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delete mSphere2;
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mPhysicsWorld->destroyCollisionBody(mCapsule1->getCollisionBody());
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delete mCapsule1;
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mPhysicsWorld->destroyCollisionBody(mCapsule2->getCollisionBody());
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delete mCapsule2;
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mPhysicsWorld->destroyCollisionBody(mBox1->getCollisionBody());
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delete mBox1;
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mPhysicsWorld->destroyCollisionBody(mBox2->getCollisionBody());
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delete mBox2;
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mPhysicsWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
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delete mConvexMesh;
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mPhysicsWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
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delete mConcaveMesh;
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mPhysicsWorld->destroyCollisionBody(mHeightField->getCollisionBody());
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delete mHeightField;
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mContactManager.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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}
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// Take a step for the simulation
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void CollisionDetectionScene::update() {
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mContactManager.resetPoints();
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mPhysicsWorld->testCollision(&mContactManager);
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SceneDemo::update();
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}
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void CollisionDetectionScene::selectNextShape() {
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uint previousIndex = mSelectedShapeIndex;
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mSelectedShapeIndex++;
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if (mSelectedShapeIndex >= mAllShapes.size()) {
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mSelectedShapeIndex = 0;
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}
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mAllShapes[previousIndex]->setColor(mGreyColorDemo);
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mAllShapes[mSelectedShapeIndex]->setColor(mBlueColorDemo);
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}
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// Called when a keyboard event occurs
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bool CollisionDetectionScene::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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selectNextShape();
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return true;
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}
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float stepDist = 0.2f;
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float stepAngle = 15 * (3.14f / 180.0f);
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if (key == GLFW_KEY_RIGHT && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(stepDist, 0, 0));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_LEFT && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(-stepDist, 0, 0));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_UP && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(0, stepDist, 0));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_DOWN && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(0, -stepDist, 0));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_Z && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, stepDist));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_H && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setPosition(transform.getPosition() + rp3d::Vector3(0, 0, -stepDist));
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_A && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_D && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_W && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_S && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_F && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_G && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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return false;
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}
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