void CreateGridMesh(
const VoxelGrid<Discretizer>& vg,
std::vector<Vector3>& vertices)
{
std::vector<Vector3> voxel_mesh;
CreateBoxMesh(vg.res().x(), vg.res().y(), vg.res().z(), voxel_mesh);
vertices.reserve(voxel_mesh.size() * vg.sizeX() * vg.sizeY() * vg.sizeZ());
for (int x = 0; x < vg.sizeX(); ++x) {
for (int y = 0; y < vg.sizeY(); ++y) {
for (int z = 0; z < vg.sizeZ(); ++z) {
const MemoryCoord mc(x, y, z);
const WorldCoord wc(vg.memoryToWorld(mc));
Vector3 wp(wc.x, wc.y, wc.z);
std::printf("%d, %d, %d -> %0.3f, %0.3f, %0.3f\n", x, y, z, wc.x, wc.y, wc.z);
// translate all triangles by the voxel position
for (const Vector3& v : voxel_mesh) {
vertices.push_back(v + wp);
}
}
}
}
}
csRef<iMeshWrapper> DynamicsDebugger::CreateColliderMesh
(iDynamicsSystemCollider* collider, iMaterialWrapper* material)
{
csRef<iMeshWrapper> mesh;
switch (collider->GetGeometryType ())
{
case BOX_COLLIDER_GEOMETRY:
{
// Get box geometry
csVector3 boxSize;
collider->GetBoxGeometry (boxSize);
boxSize /= 2.0;
const csBox3 box(-boxSize, boxSize);
// Create box
mesh = CreateBoxMesh (box, material, collider->GetLocalTransform (),
sector);
}
break;
case SPHERE_COLLIDER_GEOMETRY:
{
// Get sphere geometry
csSphere sphere;
collider->GetSphereGeometry (sphere);
// Create sphere
mesh = CreateSphereMesh (sphere, material, sector);
}
break;
case CYLINDER_COLLIDER_GEOMETRY:
{
// Get cylinder geometry
float length, radius;
collider->GetCylinderGeometry (length, radius);
// Create cylinder
mesh = CreateCylinderMesh (length, radius, material,
collider->GetLocalTransform (), sector);
}
break;
case CAPSULE_COLLIDER_GEOMETRY:
{
// Get capsule geometry
float length, radius;
collider->GetCapsuleGeometry (length, radius);
// Create capsule
mesh = CreateCapsuleMesh (length, radius, material,
collider->GetLocalTransform (), sector);
}
break;
case TRIMESH_COLLIDER_GEOMETRY:
{
// Get mesh geometry
csVector3* vertices = 0;
int* indices = 0;
size_t vertexCount, triangleCount;
collider->GetMeshGeometry (vertices, vertexCount, indices, triangleCount);
// Create mesh
mesh = CreateCustomMesh (vertices, vertexCount, indices, triangleCount,
material, collider->GetLocalTransform (), sector);
}
break;
case CONVEXMESH_COLLIDER_GEOMETRY:
{
// Get mesh geometry
csVector3* vertices = 0;
int* indices = 0;
size_t vertexCount, triangleCount;
collider->GetConvexMeshGeometry (vertices, vertexCount, indices, triangleCount);
// Create mesh
mesh = CreateCustomMesh (vertices, vertexCount, indices, triangleCount, material,
collider->GetLocalTransform (), sector);
}
break;
default:
// TODO: plan meshes
break;
}
return mesh;
}
//-------------------------------------------------------------------------
FKCW_3D_Mesh* CreateBoxMesh(float r)
{
return CreateBoxMesh(r,
FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1),
FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1),FKCW_3D_Vector4(1, 1, 1, 1));
}
bool CameraControlApplication::Init() {
// Initial camera setup.
const float aspectRatio =
static_cast<float>(GetClientSize().width) / GetClientSize().height;
_camera = Camera(Vector3(0.0f, 0.0f, 4.0f),
Vector3(0.0f, 0.0f, 0.0f),
60.0f, aspectRatio, 0.1f, 100.0f);
// Setup OpenGL state.
glEnable(GL_CULL_FACE);
glFrontFace(GL_CCW);
// Create geometry.
_boxMesh = CreateBoxMesh(1.0f, 1.0f, 1.0f, true, true);
// Create a vertex-array-object and record the vertex-format.
glGenVertexArrays(1, &_vaoTrianglePositions);
glBindVertexArray(_vaoTrianglePositions);
CHECK_GL_ERROR;
// Create a vertex-buffer-object to be associated with the bound vertex-array-object.
glGenBuffers(1, &_vboTrianglePositions);
glBindBuffer(GL_ARRAY_BUFFER, _vboTrianglePositions);
// Fill vertex buffer with data.
glBufferData(GL_ARRAY_BUFFER,
sizeof(Vector3) * _boxMesh->GetVertexCount(),
_boxMesh->GetPositions(), GL_STATIC_DRAW);
CHECK_GL_ERROR;
glGenBuffers(1, &_eboTriangles);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _eboTriangles);
glBufferData(GL_ELEMENT_ARRAY_BUFFER,
sizeof(Triangle) * _boxMesh->GetTriangleCount(),
_boxMesh->GetTriangles(), GL_STATIC_DRAW);
CHECK_GL_ERROR;
// Setup vertex format.
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, NULL);
glBindVertexArray(0);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
// Create the program.
bool success = _program.CreateVertexFragmentProgramFromFile(
"../resources/shaders/CameraControlVS.glsl",
"../resources/shaders/CameraControlFS.glsl");
// Get uniforms (shader plumbing).
if (success) {
// Connect matrix uniformblock.
Matrix4 modelviewProjectionMat = _camera.PerspectiveProjectionMatrix() * _camera.ViewMatrix();
Matrix4 modelviewMat = _camera.ViewMatrix();
Matrix4 projectionMat = _camera.PerspectiveProjectionMatrix();
std::vector<UniformBlock::Entry> matrixUniforms = {
{"dummyMat", kDummyMat},
{"modelviewMat", kModelviewMat},
{"projectionMat", kProjectionMat},
{"modelviewProjectionMat", kModelviewProjectionMat}};
_matrixUniformBlock.Create(_program.Handle(), "MatrixBlock", matrixUniforms);
_matrixUniformBlock.SetUniform(kModelviewMat, &modelviewMat.n);
_matrixUniformBlock.SetUniform(kProjectionMat, &projectionMat.n);
_matrixUniformBlock.SetUniform(kModelviewProjectionMat, &modelviewProjectionMat.n);
_matrixUniformBlock.Upload();
// Fragment shader just has a single uniform.
_fragColorUniform = glGetUniformLocation(_program.Handle(), "fragColor");
success = _fragColorUniform != -1;
}
CHECK_GL_ERROR;
return success;
}
