296 lines
10 KiB
C++
296 lines
10 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://www.ephysics.com *
|
|
* Copyright (c) 2010-2016 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 <ephysics/Sphere.hpp>
|
|
|
|
openglframework::VertexBufferObject Sphere::mVBOVertices(GL_ARRAY_BUFFER);
|
|
openglframework::VertexBufferObject Sphere::mVBONormals(GL_ARRAY_BUFFER);
|
|
openglframework::VertexBufferObject Sphere::mVBOTextureCoords(GL_ARRAY_BUFFER);
|
|
openglframework::VertexBufferObject Sphere::mVBOIndices(GL_ELEMENT_ARRAY_BUFFER);
|
|
openglframework::VertexArrayObject Sphere::mVAO;
|
|
int32_t Sphere::totalNbSpheres = 0;
|
|
|
|
// Constructor
|
|
Sphere::Sphere(float radius, const openglframework::vec3 &position,
|
|
ephysics::CollisionWorld* world,
|
|
const std::string& meshFolderPath)
|
|
: openglframework::Mesh(), mRadius(radius) {
|
|
|
|
// Load the mesh from a file
|
|
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "sphere.obj", *this);
|
|
|
|
// Calculate the normals of the mesh
|
|
calculateNormals();
|
|
|
|
// Compute the scaling matrix
|
|
m_scalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
|
0, mRadius, 0, 0,
|
|
0, 0, mRadius, 0,
|
|
0, 0, 0, 1);
|
|
|
|
// Initialize the position where the sphere will be rendered
|
|
translateWorld(position);
|
|
|
|
// Create the collision shape for the rigid body (sphere shape)
|
|
// ReactPhysics3D will clone this object to create an int32_ternal one. Therefore,
|
|
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
|
m_collisionShape = new ephysics::SphereShape(mRadius);
|
|
|
|
// Initial position and orientation of the rigid body
|
|
ephysics::vec3 initPosition(position.x(), position.y(), position.z());
|
|
ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
|
|
ephysics::etk::Transform3D transform(initPosition, initOrientation);
|
|
|
|
mPreviousetk::Transform3D = transform;
|
|
|
|
// Create a rigid body corresponding to the sphere in the dynamics world
|
|
m_body = world->createCollisionBody(transform);
|
|
|
|
// Add a collision shape to the body and specify the mass of the shape
|
|
m_proxyShape = m_body->addCollisionShape(m_collisionShape, ephysics::etk::Transform3D::identity());
|
|
|
|
m_transformMatrix = m_transformMatrix * m_scalingMatrix;
|
|
|
|
// Create the VBOs and VAO
|
|
if (totalNbSpheres == 0) {
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
totalNbSpheres++;
|
|
}
|
|
|
|
// Constructor
|
|
Sphere::Sphere(float radius, const openglframework::vec3 &position,
|
|
float mass, ephysics::DynamicsWorld* world,
|
|
const std::string& meshFolderPath)
|
|
: openglframework::Mesh(), mRadius(radius) {
|
|
|
|
// Load the mesh from a file
|
|
openglframework::MeshReaderWriter::loadMeshFromFile(meshFolderPath + "sphere.obj", *this);
|
|
|
|
// Calculate the normals of the mesh
|
|
calculateNormals();
|
|
|
|
// Compute the scaling matrix
|
|
m_scalingMatrix = openglframework::Matrix4(mRadius, 0, 0, 0,
|
|
0, mRadius, 0, 0,
|
|
0, 0, mRadius, 0,
|
|
0, 0, 0, 1);
|
|
|
|
// Initialize the position where the sphere will be rendered
|
|
translateWorld(position);
|
|
|
|
// Create the collision shape for the rigid body (sphere shape)
|
|
// ReactPhysics3D will clone this object to create an int32_ternal one. Therefore,
|
|
// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
|
|
m_collisionShape = new ephysics::SphereShape(mRadius);
|
|
|
|
// Initial position and orientation of the rigid body
|
|
ephysics::vec3 initPosition(position.x(), position.y(), position.z());
|
|
ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
|
|
ephysics::etk::Transform3D transform(initPosition, initOrientation);
|
|
|
|
// Create a rigid body corresponding to the sphere in the dynamics world
|
|
ephysics::RigidBody* body = world->createRigidBody(transform);
|
|
|
|
// Add a collision shape to the body and specify the mass of the shape
|
|
m_proxyShape = body->addCollisionShape(m_collisionShape, ephysics::etk::Transform3D::identity(), mass);
|
|
|
|
m_body = body;
|
|
|
|
m_transformMatrix = m_transformMatrix * m_scalingMatrix;
|
|
|
|
// Create the VBOs and VAO
|
|
if (totalNbSpheres == 0) {
|
|
createVBOAndVAO();
|
|
}
|
|
|
|
totalNbSpheres++;
|
|
}
|
|
|
|
// Destructor
|
|
Sphere::~Sphere() {
|
|
|
|
if (totalNbSpheres == 1) {
|
|
// Destroy the mesh
|
|
destroy();
|
|
|
|
// Destroy the VBOs and VAO
|
|
mVBOIndices.destroy();
|
|
mVBOVertices.destroy();
|
|
mVBONormals.destroy();
|
|
mVBOTextureCoords.destroy();
|
|
mVAO.destroy();
|
|
}
|
|
delete m_collisionShape;
|
|
totalNbSpheres--;
|
|
}
|
|
|
|
// Render the sphere at the correct position and with the correct orientation
|
|
void Sphere::render(openglframework::Shader& shader,
|
|
const openglframework::Matrix4& worldToCameraMatrix) {
|
|
|
|
// Bind the shader
|
|
shader.bind();
|
|
|
|
// Set the model to camera matrix
|
|
shader.setMatrix4x4Uniform("localToWorldMatrix", m_transformMatrix);
|
|
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 * m_transformMatrix;
|
|
const openglframework::Matrix3 normalMatrix =
|
|
localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
|
|
shader.setetk::Matrix3x3Uniform("normalMatrix", normalMatrix, false);
|
|
|
|
// Set the vertex color
|
|
openglframework::Color currentColor = m_body->isSleeping() ? mSleepingColor : mColor;
|
|
openglframework::Vector4 color(currentColor.r, currentColor.g, currentColor.b, currentColor.a);
|
|
shader.setVector4Uniform("vertexColor", color, false);
|
|
|
|
// Bind the VAO
|
|
mVAO.bind();
|
|
|
|
mVBOVertices.bind();
|
|
|
|
// Get the location of shader attribute variables
|
|
GLint32_t vertexPositionLoc = shader.getAttribLocation("vertexPosition");
|
|
GLint32_t 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 (uint32_t 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 Sphere::createVBOAndVAO() {
|
|
|
|
// Create the VBO for the vertices data
|
|
mVBOVertices.create();
|
|
mVBOVertices.bind();
|
|
size_t sizeVertices = m_vertices.size() * sizeof(openglframework::vec3);
|
|
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::vec3);
|
|
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::vec2);
|
|
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(uint32_t);
|
|
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 Sphere::resetTransform(const ephysics::Transform& transform) {
|
|
|
|
// Reset the transform
|
|
m_body->setTransform(transform);
|
|
|
|
m_body->setIsSleeping(false);
|
|
|
|
// Reset the velocity of the rigid body
|
|
ephysics::RigidBody* rigidBody = dynamic_cast<ephysics::RigidBody*>(m_body);
|
|
if (rigidBody != NULL) {
|
|
rigidBody->setLinearVelocity(ephysics::vec3(0, 0, 0));
|
|
rigidBody->setAngularVelocity(ephysics::vec3(0, 0, 0));
|
|
}
|
|
|
|
updateetk::Transform3D(1.0f);
|
|
}
|
|
|
|
// Set the scaling of the object
|
|
void Sphere::setScaling(const openglframework::vec3& scaling) {
|
|
|
|
// Scale the collision shape
|
|
m_proxyShape->setLocalScaling(ephysics::vec3(scaling.x(), scaling.y(), scaling.z()));
|
|
|
|
// Scale the graphics object
|
|
m_scalingMatrix = openglframework::Matrix4(mRadius * scaling.x(), 0, 0, 0,
|
|
0, mRadius * scaling.y(), 0, 0,
|
|
0, 0, mRadius * scaling.z(), 0,
|
|
0, 0, 0, 1);
|
|
}
|