258 lines
9.5 KiB
C++
258 lines
9.5 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 "VisualContactPoint.h"
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// Initialization of static variables
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openglframework::VertexBufferObject VisualContactPoint::mVBOVertices(GL_ARRAY_BUFFER);
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openglframework::VertexBufferObject VisualContactPoint::mVBONormals(GL_ARRAY_BUFFER);
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openglframework::VertexBufferObject VisualContactPoint::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
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openglframework::VertexArrayObject VisualContactPoint::mVAO;
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int VisualContactPoint::mNbTotalPoints = 0;
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openglframework::Mesh VisualContactPoint::mMesh;
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bool VisualContactPoint::mStaticDataCreated = false;
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// Constructor
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VisualContactPoint::VisualContactPoint(const openglframework::Vector3& position, const std::string& meshFolderPath,
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const openglframework::Vector3& normalLineEndPointLocal, const openglframework::Color& color)
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: mColor(color), mVBOVerticesNormalLine(GL_ARRAY_BUFFER) {
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mContactNormalLinePoints[0] = openglframework::Vector3(0, 0, 0);
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mContactNormalLinePoints[1] = (normalLineEndPointLocal - position) * 0.5f;
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// Initialize the position where the mesh will be rendered
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translateWorld(position);
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// Create the VBO and VAO to render the contact normal line
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createContactNormalLineVBOAndVAO();
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}
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// Destructor
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VisualContactPoint::~VisualContactPoint() {
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mVAONormalLine.destroy();
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mVBOVerticesNormalLine.destroy();
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}
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// Load and initialize the mesh for all the contact points
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void VisualContactPoint::createStaticData(const std::string& meshFolderPath) {
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if (mStaticDataCreated) return;
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// Load the mesh from a file
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openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "sphere.obj", mMesh);
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// Calculate the normals of the mesh
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mMesh.calculateNormals();
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mMesh.scaleVertices(VISUAL_CONTACT_POINT_RADIUS);
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createVBOAndVAO();
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mStaticDataCreated = true;
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}
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// Destroy the mesh for the contact points
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void VisualContactPoint::destroyStaticData() {
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if (!mStaticDataCreated) return;
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// Destroy the VBOs and VAO
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mVBOIndices.destroy();
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mVBOVertices.destroy();
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mVBONormals.destroy();
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mVAO.destroy();
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mMesh.destroy();
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mStaticDataCreated = false;
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}
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// Render the sphere at the correct position and with the correct orientation
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void VisualContactPoint::render(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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shader.bind();
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// Set the vertex color
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openglframework::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
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shader.setVector4Uniform("vertexColor", color, false);
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mVBOVertices.bind();
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// Set the model to camera matrix
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shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
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shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
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// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
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// model-view matrix)
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const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
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const openglframework::Matrix3 normalMatrix =
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localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
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shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
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// Get the location of shader attribute variables
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GLint vertexPositionLoc = shader.getAttribLocation("vertexPosition");
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GLint vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);
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glEnableVertexAttribArray(vertexPositionLoc);
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glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
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mVBONormals.bind();
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if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
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if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
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// For each part of the mesh
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for (unsigned int i=0; i<mMesh.getNbParts(); i++) {
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glDrawElements(GL_TRIANGLES, mMesh.getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)NULL);
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}
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glDisableVertexAttribArray(vertexPositionLoc);
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if (vertexNormalLoc != -1) glDisableVertexAttribArray(vertexNormalLoc);
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mVBONormals.unbind();
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mVBOVertices.unbind();
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// Unbind the VAO
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mVAO.unbind();
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// Unbind the shader
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shader.unbind();
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// Render the contact normal line
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renderContactNormalLine(shader, worldToCameraMatrix);
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}
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void VisualContactPoint::renderContactNormalLine(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix) {
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// Bind the VAO
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mVAONormalLine.bind();
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// Bind the shader
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shader.bind();
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mVBOVerticesNormalLine.bind();
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// Set the model to camera matrix
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const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix;
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shader.setMatrix4x4Uniform("localToWorldMatrix", mTransformMatrix);
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shader.setMatrix4x4Uniform("worldToCameraMatrix", worldToCameraMatrix);
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// Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the
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// model-view matrix)
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const openglframework::Matrix3 normalMatrix =
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localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
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shader.setMatrix3x3Uniform("normalMatrix", normalMatrix, false);
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// Set the vertex color
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openglframework::Vector4 color(0, 1, 0, 1);
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shader.setVector4Uniform("vertexColor", color, false);
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// Get the location of shader attribute variables
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GLint vertexPositionLoc = shader.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, 2);
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glDisableVertexAttribArray(vertexPositionLoc);
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mVBOVerticesNormalLine.unbind();
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// Unbind the VAO
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mVAONormalLine.unbind();
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shader.unbind();
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}
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// Create the Vertex Buffer Objects used to render the contact point sphere with OpenGL.
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/// We create two VBOs (one for vertices and one for indices)
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void VisualContactPoint::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 = mMesh.getVertices().size() * sizeof(openglframework::Vector3);
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mVBOVertices.copyDataIntoVBO(sizeVertices, mMesh.getVerticesPointer(), GL_STATIC_DRAW);
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mVBOVertices.unbind();
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// Create the VBO for the normals data
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mVBONormals.create();
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mVBONormals.bind();
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size_t sizeNormals = mMesh.getNormals().size() * sizeof(openglframework::Vector3);
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mVBONormals.copyDataIntoVBO(sizeNormals, mMesh.getNormalsPointer(), GL_STATIC_DRAW);
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mVBONormals.unbind();
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// Create th VBO for the indices data
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mVBOIndices.create();
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mVBOIndices.bind();
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size_t sizeIndices = mMesh.getIndices(0).size() * sizeof(unsigned int);
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mVBOIndices.copyDataIntoVBO(sizeIndices, mMesh.getIndicesPointer(), GL_STATIC_DRAW);
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mVBOIndices.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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// Bind the VBO of normals
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mVBONormals.bind();
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// Bind the VBO of indices
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mVBOIndices.bind();
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// Unbind the VAO
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mVAO.unbind();
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}
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// Create the Vertex Buffer Objects used to render the contact normal line
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void VisualContactPoint::createContactNormalLineVBOAndVAO() {
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// Create the VBO for the vertices data
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mVBOVerticesNormalLine.create();
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mVBOVerticesNormalLine.bind();
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size_t sizeNormalLineVertices = 2 * sizeof(openglframework::Vector3);
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mVBOVerticesNormalLine.copyDataIntoVBO(sizeNormalLineVertices, &mContactNormalLinePoints[0], GL_STATIC_DRAW);
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mVBOVerticesNormalLine.unbind();
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// Create the VAO for both VBOs
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mVAONormalLine.create();
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mVAONormalLine.bind();
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// Bind the VBO of vertices
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mVBOVerticesNormalLine.bind();
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// Unbind the VAO
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mVAONormalLine.unbind();
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}
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