reactphysics3d/testbed/common/Dumbbell.cpp
2015-07-29 18:15:20 +02:00

340 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 "Dumbbell.h"
openglframework::VertexBufferObject Dumbbell::mVBOVertices(GL_ARRAY_BUFFER);
openglframework::VertexBufferObject Dumbbell::mVBONormals(GL_ARRAY_BUFFER);
openglframework::VertexBufferObject Dumbbell::mVBOTextureCoords(GL_ARRAY_BUFFER);
openglframework::VertexBufferObject Dumbbell::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
openglframework::VertexArrayObject Dumbbell::mVAO;
int Dumbbell::totalNbDumbbells = 0;
// Constructor
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
reactphysics3d::DynamicsWorld* dynamicsWorld, const std::string& meshFolderPath)
: openglframework::Mesh(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
// Calculate the normals of the mesh
calculateNormals();
// Identity scaling matrix
mScalingMatrix.setToIdentity();
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Create a sphere collision shape for the two ends of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
const rp3d::decimal massSphere = rp3d::decimal(2.0);
const rp3d::SphereShape sphereCollisionShape(radiusSphere);
// Create a cylinder collision shape for the middle of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
const rp3d::decimal massCylinder = rp3d::decimal(1.0);
const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
rp3d::Transform transformBody(initPosition, initOrientation);
mPreviousTransform = transformBody;
// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the second sphere collision shape of the dumbell (in local-space)
rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the cylinder collision shape of the dumbell (in local-space)
rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
// Create a rigid body corresponding to the dumbbell in the dynamics world
rp3d::RigidBody* body = dynamicsWorld->createRigidBody(transformBody);
// Add the three collision shapes to the body and specify the mass and transform of the shapes
body->addCollisionShape(sphereCollisionShape, transformSphereShape1, massSphere);
body->addCollisionShape(sphereCollisionShape, transformSphereShape2, massSphere);
body->addCollisionShape(cylinderCollisionShape, transformCylinderShape, massCylinder);
mBody = body;
mTransformMatrix = mTransformMatrix * mScalingMatrix;
// Create the VBOs and VAO
if (totalNbDumbbells == 0) {
createVBOAndVAO();
}
totalNbDumbbells++;
}
// Constructor
Dumbbell::Dumbbell(const openglframework::Vector3 &position,
reactphysics3d::CollisionWorld* world, const std::string& meshFolderPath)
: openglframework::Mesh(), mColor(0.5f, 0.5f, 0.5f, 1.0f) {
// Load the mesh from a file
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "dumbbell.obj", *this);
// Calculate the normals of the mesh
calculateNormals();
// Identity scaling matrix
mScalingMatrix.setToIdentity();
// Initialize the position where the sphere will be rendered
translateWorld(position);
// Create a sphere collision shape for the two ends of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusSphere = rp3d::decimal(1.5);
const rp3d::decimal massSphere = rp3d::decimal(2.0);
const rp3d::SphereShape sphereCollisionShape(radiusSphere);
// Create a cylinder collision shape for the middle of the dumbbell
// ReactPhysics3D will clone this object to create an internal one. Therefore,
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
const rp3d::decimal radiusCylinder = rp3d::decimal(0.5);
const rp3d::decimal heightCylinder = rp3d::decimal(8.0);
const rp3d::decimal massCylinder = rp3d::decimal(1.0);
const rp3d::CylinderShape cylinderCollisionShape(radiusCylinder, heightCylinder);
// Initial position and orientation of the rigid body
rp3d::Vector3 initPosition(position.x, position.y, position.z);
rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
rp3d::Transform transformBody(initPosition, initOrientation);
// Initial transform of the first sphere collision shape of the dumbbell (in local-space)
rp3d::Transform transformSphereShape1(rp3d::Vector3(0, 4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the second sphere collision shape of the dumbell (in local-space)
rp3d::Transform transformSphereShape2(rp3d::Vector3(0, -4.0, 0), rp3d::Quaternion::identity());
// Initial transform of the cylinder collision shape of the dumbell (in local-space)
rp3d::Transform transformCylinderShape(rp3d::Vector3(0, 0, 0), rp3d::Quaternion::identity());
// Create a rigid body corresponding to the dumbbell in the dynamics world
mBody = world->createCollisionBody(transformBody);
// Add the three collision shapes to the body and specify the mass and transform of the shapes
mBody->addCollisionShape(sphereCollisionShape, transformSphereShape1);
mBody->addCollisionShape(sphereCollisionShape, transformSphereShape2);
mBody->addCollisionShape(cylinderCollisionShape, transformCylinderShape);
mTransformMatrix = mTransformMatrix * mScalingMatrix;
// Create the VBOs and VAO
if (totalNbDumbbells == 0) {
createVBOAndVAO();
}
totalNbDumbbells++;
}
// Destructor
Dumbbell::~Dumbbell() {
if (totalNbDumbbells == 1) {
// Destroy the mesh
destroy();
// Destroy the VBOs and VAO
mVBOIndices.destroy();
mVBOVertices.destroy();
mVBONormals.destroy();
mVBOTextureCoords.destroy();
mVAO.destroy();
}
totalNbDumbbells--;
}
// Render the sphere at the correct position and with the correct orientation
void Dumbbell::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);
if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, (char*)NULL);
// 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);
mVBOVertices.unbind();
// Unbind the VAO
mVAO.unbind();
// Unbind the shader
shader.unbind();
}
// Update the transform matrix of the sphere
void Dumbbell::updateTransform(float interpolationFactor) {
// Get the transform of the rigid body
rp3d::Transform transform = mBody->getTransform();
// Interpolate the transform between the previous one and the new one
rp3d::Transform interpolatedTransform = rp3d::Transform::interpolateTransforms(mPreviousTransform,
transform,
interpolationFactor);
mPreviousTransform = transform;
// Compute the transform used for rendering the sphere
rp3d::decimal matrix[16];
interpolatedTransform.getOpenGLMatrix(matrix);
openglframework::Matrix4 newMatrix(matrix[0], matrix[4], matrix[8], matrix[12],
matrix[1], matrix[5], matrix[9], matrix[13],
matrix[2], matrix[6], matrix[10], matrix[14],
matrix[3], matrix[7], matrix[11], matrix[15]);
// Apply the scaling matrix to have the correct sphere dimensions
mTransformMatrix = newMatrix * mScalingMatrix;
}
// Create the Vertex Buffer Objects used to render with OpenGL.
/// We create two VBOs (one for vertices and one for indices)
void Dumbbell::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(uint);
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 Dumbbell::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);
}