// Render the sphere at the correct position and with the correct orientation void ConvexMesh::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::Color currentColor = mBody->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 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(); }
// Constructor ConvexMesh::ConvexMesh(const openglframework::Vector3 &position, reactphysics3d::CollisionWorld* world, const std::string& meshPath) : 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(meshPath, *this); // Calculate the normals of the mesh calculateNormals(); // Initialize the position where the sphere will be rendered translateWorld(position); // Compute the scaling matrix mScalingMatrix = openglframework::Matrix4::identity(); // Vertex and Indices array for the triangle mesh (data in shared and not copied) mPhysicsTriangleVertexArray = new rp3d::TriangleVertexArray(getNbVertices(), &(mVertices[0]), sizeof(openglframework::Vector3), getNbFaces(0), &(mIndices[0][0]), sizeof(int), rp3d::TriangleVertexArray::VERTEX_FLOAT_TYPE, rp3d::TriangleVertexArray::INDEX_INTEGER_TYPE); // Create the collision shape for the rigid body (convex mesh shape) and // do not forget to delete it at the end mConvexShape = new rp3d::ConvexMeshShape(mPhysicsTriangleVertexArray); // 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 mProxyShape = mBody->addCollisionShape(mConvexShape, rp3d::Transform::identity()); // Create the VBOs and VAO createVBOAndVAO(); mTransformMatrix = mTransformMatrix * mScalingMatrix; }
// 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 const openglframework::Matrix4 localToCameraMatrix = worldToCameraMatrix * mTransformMatrix; shader.setMatrix4x4Uniform("localToCameraMatrix", localToCameraMatrix); // Set the normal matrix (inverse transpose of the 3x3 upper-left sub matrix of the // model-view matrix) const openglframework::Matrix3 normalMatrix = localToCameraMatrix.getUpperLeft3x3Matrix().getInverse().getTranspose(); shader.setMatrix3x3Uniform("normalMatrix", normalMatrix); glEnableClientState(GL_VERTEX_ARRAY); glEnableClientState(GL_NORMAL_ARRAY); if (hasTexture()) { glEnableClientState(GL_TEXTURE_COORD_ARRAY); } glVertexPointer(3, GL_FLOAT, 0, getVerticesPointer()); glNormalPointer(GL_FLOAT, 0, getNormalsPointer()); if(hasTexture()) { glTexCoordPointer(2, GL_FLOAT, 0, getUVTextureCoordinatesPointer()); } // For each part of the mesh for (unsigned int i=0; i<getNbParts(); i++) { glDrawElements(GL_TRIANGLES, getNbFaces(i) * 3, GL_UNSIGNED_INT, getIndicesPointer()); } glDisableClientState(GL_NORMAL_ARRAY); glDisableClientState(GL_VERTEX_ARRAY); if (hasTexture()) { glDisableClientState(GL_TEXTURE_COORD_ARRAY); } // Unbind the shader shader.unbind(); }