344 lines
10 KiB
C++
344 lines
10 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.ephysics.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 <ephysics/Box.hpp>
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// Macros
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#define MEMBER_OFFSET(s,m) ((char *)NULL + (offsetof(s,m)))
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// Initialize static variables
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openglframework::VertexBufferObject Box::mVBOVertices(GL_ARRAY_BUFFER);
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openglframework::VertexBufferObject Box::mVBONormals(GL_ARRAY_BUFFER);
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openglframework::VertexArrayObject Box::mVAO;
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int32_t Box::totalNbBoxes = 0;
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GLfloat Box::mCubeVertices[108] = {
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-1.0f,-1.0f,-1.0f, // triangle 1 : begin
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-1.0f,-1.0f, 1.0f,
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-1.0f, 1.0f, 1.0f, // triangle 1 : end
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1.0f, 1.0f,-1.0f, // triangle 2 : begin
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-1.0f,-1.0f,-1.0f,
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-1.0f, 1.0f,-1.0f, // triangle 2 : end
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1.0f,-1.0f, 1.0f,
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-1.0f,-1.0f,-1.0f,
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1.0f,-1.0f,-1.0f,
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1.0f, 1.0f,-1.0f,
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1.0f,-1.0f,-1.0f,
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-1.0f,-1.0f,-1.0f,
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-1.0f,-1.0f,-1.0f,
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-1.0f, 1.0f, 1.0f,
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-1.0f, 1.0f,-1.0f,
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1.0f,-1.0f, 1.0f,
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-1.0f,-1.0f, 1.0f,
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-1.0f,-1.0f,-1.0f,
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-1.0f, 1.0f, 1.0f,
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-1.0f,-1.0f, 1.0f,
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1.0f,-1.0f, 1.0f,
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1.0f, 1.0f, 1.0f,
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1.0f,-1.0f,-1.0f,
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1.0f, 1.0f,-1.0f,
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1.0f,-1.0f,-1.0f,
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1.0f, 1.0f, 1.0f,
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1.0f,-1.0f, 1.0f,
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1.0f, 1.0f, 1.0f,
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1.0f, 1.0f,-1.0f,
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-1.0f, 1.0f,-1.0f,
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1.0f, 1.0f, 1.0f,
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-1.0f, 1.0f,-1.0f,
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-1.0f, 1.0f, 1.0f,
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1.0f, 1.0f, 1.0f,
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-1.0f, 1.0f, 1.0f,
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1.0f,-1.0f, 1.0f
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};
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GLfloat Box::mCubeNormals[108] = {
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-1.0f, 0.0f, 0.0f, // triangle 1 : begin
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-1.0f, 0.0f, 0.0f,
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-1.0f, 0.0f, 0.0f, // triangle 1 : end
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0.0f, 0.0f,-1.0f, // triangle 2 : begin
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0.0f, 0.0f,-1.0f,
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0.0f, 0.0f,-1.0f, // triangle 2 : end
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0.0f,-1.0f, 0.0f,
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0.0f,-1.0f, 0.0f,
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0.0f,-1.0f, 0.0f,//
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0.0f, 0.0f,-1.0f,
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0.0f, 0.0f,-1.0f,
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0.0f, 0.0f,-1.0f,//
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-1.0f, 0.0f, 0.0f,
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-1.0f, 0.0f, 0.0f,
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-1.0f, 0.0f,0.0f,//
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0.0f,-1.0f, 0.0f,
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0.0f,-1.0f, 0.0f,
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0.0f,-1.0f, 0.0f,//
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0.0f, 0.0f, 1.0f,
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0.0f, 0.0f, 1.0f,
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0.0f, 0.0f, 1.0f,//
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1.0f, 0.0f, 0.0f,
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1.0f, 0.0f, 0.0f,
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1.0f, 0.0f, 0.0f,//
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1.0f, 0.0f, 0.0f,
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1.0f, 0.0f, 0.0f,
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1.0f, 0.0f, 0.0f,//
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0.0f, 1.0f, 0.0f,
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0.0f, 1.0f, 0.0f,
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0.0f, 1.0f, 0.0f,//
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0.0f, 1.0f, 0.0f,
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0.0f, 1.0f, 0.0f,
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0.0f, 1.0f, 0.0f,//
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0.0f, 0.0f, 1.0f,
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0.0f, 0.0f, 1.0f,
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0.0f, 0.0f, 1.0f//
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};
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// Constructor
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Box::Box(const openglframework::vec3& size, const openglframework::vec3 &position,
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ephysics::CollisionWorld* world)
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: openglframework::Object3D() {
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// Initialize the size of the box
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mSize[0] = size.x() * 0.5f;
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mSize[1] = size.y() * 0.5f;
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mSize[2] = size.z() * 0.5f;
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// Compute the scaling matrix
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m_scalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
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0, mSize[1], 0, 0,
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0, 0, mSize[2], 0,
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0, 0, 0, 1);
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// Initialize the position where the cube will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (box shape)
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// ReactPhysics3D will clone this object to create an int32_ternal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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mBoxShape = new ephysics::BoxShape(ephysics::vec3(mSize[0], mSize[1], mSize[2]));
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// Initial position and orientation of the rigid body
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ephysics::vec3 initPosition(position.x(), position.y(), position.z());
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ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
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ephysics::etk::Transform3D transform(initPosition, initOrientation);
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mPreviousetk::Transform3D = transform;
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// Create a rigid body in the dynamics world
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m_body = world->createCollisionBody(transform);
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// Add the collision shape to the body
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m_proxyShape = m_body->addCollisionShape(mBoxShape, ephysics::etk::Transform3D::identity());
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// If the Vertex Buffer object has not been created yet
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if (totalNbBoxes == 0) {
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// Create the Vertex Buffer
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createVBOAndVAO();
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}
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totalNbBoxes++;
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m_transformMatrix = m_transformMatrix * m_scalingMatrix;
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}
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// Constructor
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Box::Box(const openglframework::vec3& size, const openglframework::vec3& position,
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float mass, ephysics::DynamicsWorld* world)
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: openglframework::Object3D() {
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// Initialize the size of the box
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mSize[0] = size.x() * 0.5f;
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mSize[1] = size.y() * 0.5f;
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mSize[2] = size.z() * 0.5f;
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// Compute the scaling matrix
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m_scalingMatrix = openglframework::Matrix4(mSize[0], 0, 0, 0,
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0, mSize[1], 0, 0,
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0, 0, mSize[2], 0,
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0, 0, 0, 1);
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// Initialize the position where the cube will be rendered
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translateWorld(position);
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// Create the collision shape for the rigid body (box shape)
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// ReactPhysics3D will clone this object to create an int32_ternal one. Therefore,
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// it is OK if this object is destroyed right after calling RigidBody::addCollisionShape()
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mBoxShape = new ephysics::BoxShape(ephysics::vec3(mSize[0], mSize[1], mSize[2]));
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// Initial position and orientation of the rigid body
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ephysics::vec3 initPosition(position.x(), position.y(), position.z());
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ephysics::etk::Quaternion initOrientation = ephysics::Quaternion::identity();
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ephysics::etk::Transform3D transform(initPosition, initOrientation);
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mPreviousetk::Transform3D = transform;
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// Create a rigid body in the dynamics world
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ephysics::RigidBody* body = world->createRigidBody(transform);
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// Add the collision shape to the body
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m_proxyShape = body->addCollisionShape(mBoxShape, ephysics::etk::Transform3D::identity(), mass);
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m_body = body;
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// If the Vertex Buffer object has not been created yet
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if (totalNbBoxes == 0) {
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// Create the Vertex Buffer
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createVBOAndVAO();
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}
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totalNbBoxes++;
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m_transformMatrix = m_transformMatrix * m_scalingMatrix;
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}
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// Destructor
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Box::~Box() {
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if (totalNbBoxes == 1) {
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// Destroy the VBOs and VAO
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mVBOVertices.destroy();
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mVBONormals.destroy();
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mVAO.destroy();
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}
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delete mBoxShape;
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totalNbBoxes--;
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}
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// Render the cube at the correct position and with the correct orientation
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void Box::render(openglframework::Shader& shader,
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const openglframework::Matrix4& worldToCameraMatrix) {
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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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shader.setMatrix4x4Uniform("localToWorldMatrix", m_transformMatrix);
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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 * m_transformMatrix;
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const openglframework::Matrix3 normalMatrix =
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localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose();
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shader.setetk::Matrix3x3Uniform("normalMatrix", normalMatrix, false);
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// Set the vertex color
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openglframework::Color currentColor = m_body->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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// Get the location of shader attribute variables
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GLint32_t vertexPositionLoc = shader.getAttribLocation("vertexPosition");
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GLint32_t vertexNormalLoc = shader.getAttribLocation("vertexNormal", false);
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glEnableVertexAttribArray(vertexPositionLoc);
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glVertexAttribPointer(vertexPositionLoc, 3, GL_FLOAT, GL_FALSE, 0, NULL);
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mVBONormals.bind();
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if (vertexNormalLoc != -1) glEnableVertexAttribArray(vertexNormalLoc);
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if (vertexNormalLoc != -1) glVertexAttribPointer(vertexNormalLoc, 3, GL_FLOAT, GL_FALSE, 0, NULL);
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// Draw the geometry of the box
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glDrawArrays(GL_TRIANGLES, 0, 36);
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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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}
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// Create the Vertex Buffer Objects used to render to box with OpenGL.
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/// We create two VBOs (one for vertices and one for indices) to render all the boxes
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/// in the simulation.
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void Box::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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mVBOVertices.copyDataIntoVBO(sizeof(mCubeVertices), mCubeVertices, GL_STATIC_DRAW);
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mVBOVertices.unbind();
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// Create th VBO for the normals data
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mVBONormals.create();
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mVBONormals.bind();
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mVBONormals.copyDataIntoVBO(sizeof(mCubeNormals), mCubeNormals, GL_STATIC_DRAW);
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mVBONormals.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 indices
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mVBONormals.bind();
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// Unbind the VAO
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mVAO.unbind();
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}
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// Reset the transform
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void Box::resetTransform(const ephysics::Transform& transform) {
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// Reset the transform
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m_body->setTransform(transform);
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m_body->setIsSleeping(false);
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// Reset the velocity of the rigid body
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ephysics::RigidBody* rigidBody = dynamic_cast<ephysics::RigidBody*>(m_body);
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if (rigidBody != NULL) {
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rigidBody->setLinearVelocity(ephysics::vec3(0, 0, 0));
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rigidBody->setAngularVelocity(ephysics::vec3(0, 0, 0));
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}
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updateetk::Transform3D(1.0f);
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}
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// Set the scaling of the object
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void Box::setScaling(const openglframework::vec3& scaling) {
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// Scale the collision shape
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m_proxyShape->setLocalScaling(ephysics::vec3(scaling.x(), scaling.y(), scaling.z()));
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// Scale the graphics object
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m_scalingMatrix = openglframework::Matrix4(mSize[0] * scaling.x(), 0, 0, 0,
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0, mSize[1] * scaling.y(), 0, 0,
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0, 0, mSize[2] * scaling.z(), 0,
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0, 0, 0, 1);
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}
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