418 lines
16 KiB
C++
418 lines
16 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 "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)
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: SceneDemo(name, SCENE_RADIUS, false), mMeshFolderPath("meshes/"),
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mContactManager(mPhongShader, mMeshFolderPath),
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mAreNormalsDisplayed(false), mVBOVertices(GL_ARRAY_BUFFER) {
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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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// Create the dynamics world for the physics simulation
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mCollisionWorld = new rp3d::CollisionWorld();
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// ---------- Sphere 1 ---------- //
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openglframework::Vector3 position1(0, 0, 0);
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere1 = new Sphere(6, position1, mCollisionWorld, 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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// ---------- Sphere 2 ---------- //
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openglframework::Vector3 position2(4, 0, 0);
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// Create a sphere and a corresponding collision body in the dynamics world
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mSphere2 = new Sphere(4, position2, mCollisionWorld, 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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// ---------- Capsule 1 ---------- //
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openglframework::Vector3 position3(4, 0, 0);
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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, position3, mCollisionWorld, 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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// ---------- Cone ---------- //
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//openglframework::Vector3 position4(0, 0, 0);
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// Create a cone and a corresponding collision body in the dynamics world
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//mCone = new Cone(CONE_RADIUS, CONE_HEIGHT, position4, mCollisionWorld,
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// mMeshFolderPath);
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// Set the color
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//mCone->setColor(mGreyColorDemo);
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//mCone->setSleepingColor(mRedColorDemo);
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// ---------- Cylinder ---------- //
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//openglframework::Vector3 position5(0, 0, 0);
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// Create a cylinder and a corresponding collision body in the dynamics world
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//mCylinder = new Cylinder(CYLINDER_RADIUS, CYLINDER_HEIGHT, position5,
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// mCollisionWorld, mMeshFolderPath);
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// Set the color
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//mCylinder->setColor(mGreyColorDemo);
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//mCylinder->setSleepingColor(mRedColorDemo);
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// ---------- Convex Mesh ---------- //
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//openglframework::Vector3 position7(0, 0, 0);
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// Create a convex mesh and a corresponding collision body in the dynamics world
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//mConvexMesh = new ConvexMesh(position7, mCollisionWorld, mMeshFolderPath + "convexmesh.obj");
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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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// ---------- Concave Mesh ---------- //
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//openglframework::Vector3 position8(0, 0, 0);
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// Create a convex mesh and a corresponding collision body in the dynamics world
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//mConcaveMesh = new ConcaveMesh(position8, mCollisionWorld, mMeshFolderPath + "city.obj");
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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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// ---------- Heightfield ---------- //
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//openglframework::Vector3 position9(0, 0, 0);
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// Create a convex mesh and a corresponding collision body in the dynamics world
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//mHeightField = new HeightField(position9, mCollisionWorld);
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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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// Create the VBO and VAO to render the lines
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//createVBOAndVAO(mPhongShader);
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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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}
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// Destructor
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CollisionDetectionScene::~CollisionDetectionScene() {
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// Destroy the shader
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mPhongShader.destroy();
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// Destroy the box rigid body from the dynamics world
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//mCollisionWorld->destroyCollisionBody(mBox->getCollisionBody());
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//delete mBox;
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// Destroy the spheres
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mCollisionWorld->destroyCollisionBody(mSphere1->getCollisionBody());
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delete mSphere1;
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mCollisionWorld->destroyCollisionBody(mSphere2->getCollisionBody());
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delete mSphere2;
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/*
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCone->getCollisionBody());
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delete mCone;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCylinder->getCollisionBody());
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// Destroy the sphere
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delete mCylinder;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mCapsule->getCollisionBody());
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// Destroy the sphere
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delete mCapsule;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mConvexMesh->getCollisionBody());
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// Destroy the convex mesh
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delete mConvexMesh;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mDumbbell->getCollisionBody());
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// Destroy the dumbbell
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delete mDumbbell;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mConcaveMesh->getCollisionBody());
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// Destroy the convex mesh
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delete mConcaveMesh;
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// Destroy the corresponding rigid body from the dynamics world
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mCollisionWorld->destroyCollisionBody(mHeightField->getCollisionBody());
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// Destroy the convex mesh
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delete mHeightField;
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*/
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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 mCollisionWorld;
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// Destroy the VBOs and VAO
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mVBOVertices.destroy();
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mVAO.destroy();
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}
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// Update the physics world (take a simulation step)
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void CollisionDetectionScene::updatePhysics() {
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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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mCollisionWorld->testCollision(&mContactManager);
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SceneDemo::update();
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}
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// Render the scene
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void CollisionDetectionScene::renderSinglePass(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) {
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/*
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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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mVBOVertices.bind();
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// Set the model to camera matrix
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const Matrix4 localToCameraMatrix = Matrix4::identity();
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shader.setMatrix4x4Uniform("localToWorldMatrix", localToCameraMatrix);
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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(1, 0, 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, NB_RAYS);
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glDisableVertexAttribArray(vertexPositionLoc);
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mVBOVertices.unbind();
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// Unbind the VAO
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mVAO.unbind();
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shader.unbind();
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*/
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// Render the shapes
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if (mSphere1->getCollisionBody()->isActive()) mSphere1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
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if (mSphere2->getCollisionBody()->isActive()) mSphere2->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
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if (mCapsule1->getCollisionBody()->isActive()) mCapsule1->render(shader, worldToCameraMatrix, mIsWireframeEnabled);
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/*
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if (mBox->getCollisionBody()->isActive()) mBox->render(shader, worldToCameraMatrix);
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if (mCone->getCollisionBody()->isActive()) mCone->render(shader, worldToCameraMatrix);
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if (mCylinder->getCollisionBody()->isActive()) mCylinder->render(shader, worldToCameraMatrix);
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if (mCapsule->getCollisionBody()->isActive()) mCapsule->render(shader, worldToCameraMatrix);
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if (mConvexMesh->getCollisionBody()->isActive()) mConvexMesh->render(shader, worldToCameraMatrix);
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if (mDumbbell->getCollisionBody()->isActive()) mDumbbell->render(shader, worldToCameraMatrix);
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if (mConcaveMesh->getCollisionBody()->isActive()) mConcaveMesh->render(shader, worldToCameraMatrix);
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if (mHeightField->getCollisionBody()->isActive()) mHeightField->render(shader, worldToCameraMatrix);
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*/
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shader.unbind();
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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 CollisionDetectionScene::createVBOAndVAO(openglframework::Shader& shader) {
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// Bind the shader
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shader.bind();
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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 = mLinePoints.size() * sizeof(openglframework::Vector3);
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mVBOVertices.copyDataIntoVBO(sizeVertices, &mLinePoints[0], GL_STATIC_DRAW);
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mVBOVertices.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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// 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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}
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void CollisionDetectionScene::selectNextShape() {
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int 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 = 0.5f;
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float stepAngle = 20 * (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(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(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(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(-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(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(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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