346 lines
14 KiB
C++
346 lines
14 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 "ConcaveMesh.h"
|
|
|
|
// Constructor
|
|
ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position,
|
|
reactphysics3d::CollisionWorld* world,
|
|
const std::string& meshFolderPath)
|
|
: openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER),
|
|
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
|
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
|
|
|
// Load the mesh from a file
|
|
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "concavemesh.obj", *this);
|
|
|
|
// Calculate the normals of the mesh
|
|
calculateNormals();
|
|
|
|
// Initialize the position where the sphere will be rendered
|
|
translateWorld(position);
|
|
|
|
// Convert the vertices array to the rp3d::decimal type
|
|
/*rp3d::decimal* vertices = new rp3d::decimal[3 * mVertices.size()];
|
|
for (int i=0; i < mVertices.size(); i++) {
|
|
vertices[3 * i] = static_cast<rp3d::decimal>(mVertices[i].x);
|
|
vertices[3 * i + 1] = static_cast<rp3d::decimal>(mVertices[i].y);
|
|
vertices[3 * i + 2] = static_cast<rp3d::decimal>(mVertices[i].z);
|
|
}
|
|
*/
|
|
|
|
// For each subpart of the mesh
|
|
for (int i=0; i<getNbParts(); i++) {
|
|
|
|
// Vertex and Indices array for the triangle mesh (data in shared and not copied)
|
|
rp3d::TriangleVertexArray* vertexArray =
|
|
new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
|
|
getNbFaces(i), &(mIndices[i][0]), sizeof(int),
|
|
rp3d::TriangleVertexArray::VERTEX_FLOAT_TYPE,
|
|
rp3d::TriangleVertexArray::INDEX_INTEGER_TYPE);
|
|
|
|
// Add the triangle vertex array of the subpart to the triangle mesh
|
|
mPhysicsTriangleMesh.addSubpart(vertexArray);
|
|
}
|
|
|
|
// Create the collision shape for the rigid body (convex mesh shape) and
|
|
// do not forget to delete it at the end
|
|
mCollisionShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh);
|
|
|
|
//delete[] vertices;
|
|
|
|
/*
|
|
// Add the edges information of the mesh into the convex mesh collision shape.
|
|
// This is optional but it really speed up the convex mesh collision detection at the
|
|
// cost of some additional memory to store the edges inside the collision shape.
|
|
for (unsigned int i=0; i<getNbFaces(); i++) { // For each triangle face of the mesh
|
|
|
|
// Get the three vertex IDs of the vertices of the face
|
|
unsigned int v1 = getVertexIndexInFace(i, 0);
|
|
unsigned int v2 = getVertexIndexInFace(i, 1);
|
|
unsigned int v3 = getVertexIndexInFace(i, 2);
|
|
|
|
// Add the three edges into the collision shape
|
|
mCollisionShape->addEdge(v1, v2);
|
|
mCollisionShape->addEdge(v1, v3);
|
|
mCollisionShape->addEdge(v2, v3);
|
|
}
|
|
mCollisionShape->setIsEdgesInformationUsed(true);// Enable the fast collision detection with edges
|
|
*/
|
|
|
|
// 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 corresponding to the sphere in the dynamics world
|
|
mBody = world->createCollisionBody(transform);
|
|
|
|
// Add a collision shape to the body and specify the mass of the collision shape
|
|
mBody->addCollisionShape(mCollisionShape, rp3d::Transform::identity());
|
|
|
|
// Create the VBOs and VAO
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
// Constructor
|
|
ConcaveMesh::ConcaveMesh(const openglframework::Vector3 &position, float mass,
|
|
reactphysics3d::DynamicsWorld* dynamicsWorld,
|
|
const std::string& meshFolderPath)
|
|
: openglframework::Mesh(), mVBOVertices(GL_ARRAY_BUFFER),
|
|
mVBONormals(GL_ARRAY_BUFFER), mVBOTextureCoords(GL_ARRAY_BUFFER),
|
|
mVBOIndices(GL_ELEMENT_ARRAY_BUFFER) {
|
|
|
|
// Load the mesh from a file
|
|
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "concavemesh.obj", *this);
|
|
|
|
// Calculate the normals of the mesh
|
|
calculateNormals();
|
|
|
|
// Initialize the position where the sphere will be rendered
|
|
translateWorld(position);
|
|
|
|
/*
|
|
// Convert the vertices array to the rp3d::decimal type
|
|
rp3d::decimal* vertices = new rp3d::decimal[3 * mVertices.size()];
|
|
for (int i=0; i < mVertices.size(); i++) {
|
|
vertices[3 * i] = static_cast<rp3d::decimal>(mVertices[i].x);
|
|
vertices[3 * i + 1] = static_cast<rp3d::decimal>(mVertices[i].y);
|
|
vertices[3 * i + 2] = static_cast<rp3d::decimal>(mVertices[i].z);
|
|
}
|
|
*/
|
|
|
|
// For each subpart of the mesh
|
|
for (int i=0; i<getNbParts(); i++) {
|
|
|
|
// Vertex and Indices array for the triangle mesh (data in shared and not copied)
|
|
rp3d::TriangleVertexArray* vertexArray =
|
|
new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3),
|
|
getNbFaces(i), &(mIndices[i][0]), sizeof(int),
|
|
rp3d::TriangleVertexArray::VERTEX_FLOAT_TYPE,
|
|
rp3d::TriangleVertexArray::INDEX_INTEGER_TYPE);
|
|
|
|
// Add the triangle vertex array of the subpart to the triangle mesh
|
|
mPhysicsTriangleMesh.addSubpart(vertexArray);
|
|
}
|
|
|
|
// Create the collision shape for the rigid body (convex mesh shape) and
|
|
// do not forget to delete it at the end
|
|
mCollisionShape = new rp3d::ConcaveMeshShape(&mPhysicsTriangleMesh);
|
|
|
|
//delete[] vertices;
|
|
|
|
/*
|
|
// Add the edges information of the mesh into the convex mesh collision shape.
|
|
// This is optional but it really speed up the convex mesh collision detection at the
|
|
// cost of some additional memory to store the edges inside the collision shape.
|
|
for (unsigned int i=0; i<getNbFaces(); i++) { // For each triangle face of the mesh
|
|
|
|
// Get the three vertex IDs of the vertices of the face
|
|
unsigned int v1 = getVertexIndexInFace(i, 0);
|
|
unsigned int v2 = getVertexIndexInFace(i, 1);
|
|
unsigned int v3 = getVertexIndexInFace(i, 2);
|
|
|
|
// Add the three edges into the collision shape
|
|
mCollisionShape->addEdge(v1, v2);
|
|
mCollisionShape->addEdge(v1, v3);
|
|
mCollisionShape->addEdge(v2, v3);
|
|
}
|
|
mCollisionShape->setIsEdgesInformationUsed(true);// Enable the fast collision detection with edges
|
|
*/
|
|
|
|
// 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);
|
|
|
|
// Create a rigid body corresponding to the sphere in the dynamics world
|
|
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transform);
|
|
|
|
// Add a collision shape to the body and specify the mass of the collision shape
|
|
body->addCollisionShape(mCollisionShape, rp3d::Transform::identity(), mass);
|
|
|
|
mBody = body;
|
|
|
|
// Create the VBOs and VAO
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
// Destructor
|
|
ConcaveMesh::~ConcaveMesh() {
|
|
|
|
// Destroy the triangle mesh data for the physics engine
|
|
for (int i=0; i<mPhysicsTriangleMesh.getNbSubparts(); i++) {
|
|
delete mPhysicsTriangleMesh.getSubpart(i);
|
|
}
|
|
|
|
// Destroy the mesh
|
|
destroy();
|
|
|
|
// Destroy the VBOs and VAO
|
|
mVBOIndices.destroy();
|
|
mVBOVertices.destroy();
|
|
mVBONormals.destroy();
|
|
mVBOTextureCoords.destroy();
|
|
mVAO.destroy();
|
|
|
|
delete mCollisionShape;
|
|
}
|
|
|
|
// Render the sphere at the correct position and with the correct orientation
|
|
void ConcaveMesh::render(openglframework::Shader& shader,
|
|
const openglframework::Matrix4& worldToCameraMatrix) {
|
|
|
|
// Bind the shader
|
|
shader.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::Vector4 color(mColor.r, mColor.g, mColor.b, mColor.a);
|
|
shader.setVector4Uniform("vertexColor", color, false);
|
|
|
|
// Bind the VAO
|
|
mVAO.bind();
|
|
|
|
mVBOVertices.bind();
|
|
|
|
// 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, (char*)NULL);
|
|
|
|
mVBONormals.bind();
|
|
|
|
if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
|
|
if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
|
|
|
|
// For each part of the mesh
|
|
for (unsigned int i=0; i<getNbParts(); i++) {
|
|
glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, (char*)NULL);
|
|
}
|
|
|
|
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 with OpenGL.
|
|
/// We create two VBOs (one for vertices and one for indices)
|
|
void ConcaveMesh::createVBOAndVAO() {
|
|
|
|
// Create the VBO for the vertices data
|
|
mVBOVertices.create();
|
|
mVBOVertices.bind();
|
|
size_t sizeVertices = mVertices.size() * sizeof(openglframework::Vector3);
|
|
mVBOVertices.copyDataIntoVBO(sizeVertices, getVerticesPointer(), GL_STATIC_DRAW);
|
|
mVBOVertices.unbind();
|
|
|
|
// Create the VBO for the normals data
|
|
mVBONormals.create();
|
|
mVBONormals.bind();
|
|
size_t sizeNormals = mNormals.size() * sizeof(openglframework::Vector3);
|
|
mVBONormals.copyDataIntoVBO(sizeNormals, getNormalsPointer(), GL_STATIC_DRAW);
|
|
mVBONormals.unbind();
|
|
|
|
if (hasTexture()) {
|
|
// Create the VBO for the texture co data
|
|
mVBOTextureCoords.create();
|
|
mVBOTextureCoords.bind();
|
|
size_t sizeTextureCoords = mUVs.size() * sizeof(openglframework::Vector2);
|
|
mVBOTextureCoords.copyDataIntoVBO(sizeTextureCoords, getUVTextureCoordinatesPointer(), GL_STATIC_DRAW);
|
|
mVBOTextureCoords.unbind();
|
|
}
|
|
|
|
// Create th VBO for the indices data
|
|
mVBOIndices.create();
|
|
mVBOIndices.bind();
|
|
size_t sizeIndices = mIndices[0].size() * sizeof(unsigned int);
|
|
mVBOIndices.copyDataIntoVBO(sizeIndices, getIndicesPointer(), GL_STATIC_DRAW);
|
|
mVBOIndices.unbind();
|
|
|
|
// Create the VAO for both VBOs
|
|
mVAO.create();
|
|
mVAO.bind();
|
|
|
|
// Bind the VBO of vertices
|
|
mVBOVertices.bind();
|
|
|
|
// Bind the VBO of normals
|
|
mVBONormals.bind();
|
|
|
|
if (hasTexture()) {
|
|
// Bind the VBO of texture coords
|
|
mVBOTextureCoords.bind();
|
|
}
|
|
|
|
// Bind the VBO of indices
|
|
mVBOIndices.bind();
|
|
|
|
// Unbind the VAO
|
|
mVAO.unbind();
|
|
}
|
|
|
|
// Reset the transform
|
|
void ConcaveMesh::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);
|
|
}
|
|
|