296 lines
12 KiB
C++
296 lines
12 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 "ConvexMesh.h"
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// Constructor
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ConvexMesh::ConvexMesh(const openglframework::Vector3 &position,
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reactphysics3d::CollisionWorld* world,
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const std::string& meshPath)
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: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
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mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
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mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4::identity();
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// Polygon faces descriptions for the polyhedron
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mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
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rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
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for (int f=0; f < getNbFaces(0); f++) {
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face->indexBase = f * 3;
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face->nbVertices = 3;
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face++;
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}
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// Create the polygon vertex array
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mPolygonVertexArray =
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new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
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&(mIndices[0][0]), sizeof(int),
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getNbFaces(0), mPolygonFaces,
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rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
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rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
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// Create the polyhedron mesh
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mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray);
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// Create the collision shape for the rigid body (convex mesh shape) and
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// do not forget to delete it at the end
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mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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mPreviousTransform = transform;
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// Create a rigid body corresponding to the sphere in the dynamics world
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mBody = world->createCollisionBody(transform);
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// Add a collision shape to the body and specify the mass of the collision shape
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mProxyShape = mBody->addCollisionShape(mConvexShape, rp3d::Transform::identity());
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// Create the VBOs and VAO
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createVBOAndVAO();
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Constructor
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ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, float mass,
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reactphysics3d::DynamicsWorld* dynamicsWorld,
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const std::string& meshPath)
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: PhysicsObject(meshPath), mVBOVertices(GL_ARRAY_BUFFER),
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mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
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mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
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// Initialize the position where the sphere will be rendered
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translateWorld(position);
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// Compute the scaling matrix
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mScalingMatrix = openglframework::Matrix4::identity();
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// Polygon faces descriptions for the polyhedron
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mPolygonFaces = new rp3d::PolygonVertexArray::PolygonFace[getNbFaces(0)];
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rp3d::PolygonVertexArray::PolygonFace* face = mPolygonFaces;
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for (int f=0; f < getNbFaces(0); f++) {
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face->indexBase = f * 3;
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face->nbVertices = 3;
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face++;
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}
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// Create the polygon vertex array
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mPolygonVertexArray =
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new rp3d::PolygonVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
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&(mIndices[0][0]), sizeof(int),
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getNbFaces(0), mPolygonFaces,
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rp3d::PolygonVertexArray::VertexDataType::VERTEX_FLOAT_TYPE,
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rp3d::PolygonVertexArray::IndexDataType::INDEX_INTEGER_TYPE);
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// Create the polyhedron mesh
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mPolyhedronMesh = new rp3d::PolyhedronMesh(mPolygonVertexArray);
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// Create the collision shape for the rigid body (convex mesh shape) and do
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// not forget to delete it at the end
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mConvexShape = new rp3d::ConvexMeshShape(mPolyhedronMesh);
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// Initial position and orientation of the rigid body
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rp3d::Vector3 initPosition(position.x, position.y, position.z);
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rp3d::Quaternion initOrientation = rp3d::Quaternion::identity();
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rp3d::Transform transform(initPosition, initOrientation);
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// Create a rigid body corresponding to the sphere in the dynamics world
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rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
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// Add a collision shape to the body and specify the mass of the collision shape
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mProxyShape = body->addCollisionShape(mConvexShape, rp3d::Transform::identity(), mass);
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mBody = body;
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// Create the VBOs and VAO
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createVBOAndVAO();
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mTransformMatrix = mTransformMatrix * mScalingMatrix;
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}
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// Destructor
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ConvexMesh::~ConvexMesh() {
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// Destroy the mesh
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destroy();
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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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mVBOTextureCoords.destroy();
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mVAO.destroy();
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delete mPolyhedronMesh;
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delete mPolygonVertexArray;
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delete[] mPolygonFaces;
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delete mConvexShape;
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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 ConvexMesh::render(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix, bool wireframe) {
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if (wireframe) {
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glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
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}
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// Bind the shader
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shader.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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// Set the vertex color
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openglframework::Color currentColor = mBody->isSleeping() ? mSleepingColor : mColor;
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openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
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shader.setVector4Uniform("vertexColor", color, false);
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// Bind the VAO
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mVAO.bind();
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mVBOVertices.bind();
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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*)nullptr);
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mVBONormals.bind();
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if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)nullptr);
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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<getNbParts(); i++) {
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glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)nullptr);
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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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if (wireframe) {
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glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
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}
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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 ConvexMesh::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 = mVertices.size() * sizeof(openglframework::Vector3);
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mVBOVertices.copyDataIntoVBO(sizeVertices, 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 = mNormals.size() * sizeof(openglframework::Vector3);
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mVBONormals.copyDataIntoVBO(sizeNormals, getNormalsPointer(), GL_STATIC_DRAW);
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mVBONormals.unbind();
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if (hasTexture()) {
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// Create the VBO for the texture co data
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mVBOTextureCoords.create();
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mVBOTextureCoords.bind();
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size_t sizeTextureCoords = mUVs.size() * sizeof(openglframework::Vector2);
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mVBOTextureCoords.copyDataIntoVBO(sizeTextureCoords, getUVTextureCoordinatesPointer(), GL_STATIC_DRAW);
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mVBOTextureCoords.unbind();
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}
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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 = mIndices[0].size() * sizeof(unsigned int);
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mVBOIndices.copyDataIntoVBO(sizeIndices, 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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if (hasTexture()) {
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// Bind the VBO of texture coords
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mVBOTextureCoords.bind();
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}
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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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// Set the scaling of the object
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void ConvexMesh::setScaling(const openglframework::Vector3& scaling) {
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// Scale the collision shape
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mProxyShape->setLocalScaling(rp3d::Vector3(scaling.x, scaling.y, scaling.z));
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// Scale the graphics object
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mScalingMatrix = openglframework::Matrix4(scaling.x, 0, 0, 0,
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0, scaling.y, 0, 0,
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0, 0, scaling.z, 0,
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0, 0, 0, 1);
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}
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